Heterogeneous robotic system for inspection and intervention in GNSS-denied environments – experience from MBZIRC 2024 competition


  • Participating Institutions
    University of Zagreb
    The Technical University of Denmark
    University of Warsaw

This Workshop focuses on real-world applications of heterogeneous robotic systems, comprised of Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vehicles (USVs), undertaking missions in GNSS denied environments. We start with theoretical aspects of the project, followed by a description of the system elements and their structure. In the second part we present results of robot team localization based on a radio signal, as well as coordinated search of UAVs in a large area. The third part of the workshop is dedicated to description of pick-and-place tasks executed by a UAV based on visual servoing, supervised and tracked by the USV sensor set-up that consists of a robotic arm carrying a lidar.

Workshop Topics

  • Autonomous operation of the heterogeneous robotic system in an adverse environment with limited communication links.
  • Localization of a robot team in a GNSS-denied environment with sparse visual and physical features, where visual or lidar-based SLAM cannot be applied. A solution relying on a radio-based approach operating on long range distances will be discussed.
  • Coordinated multi-UAV search in conditions of low communication and limited localization.
  • Aerial manipulation. A novel approach to the manipulation of objects using lidar based UAV tracking and visual servoing.

Workshop Format

  • Presentations – experienced professionals will provide comprehensive insights into the workshop topics.
  • Interactive Discussion – the workshop topics presenters, jointly with the workshop attendees, will brainstorm on the current state of the art and future possibilities of heterogeneous (UAVs and USVs) robotic applications.

Target Audience
This Workshop is designed for a diverse audience, researchers and PhD students, scientists, and engineers, as well as developers and manufacturers of UAVs.


  • 14:00-14:15 Introduction – overview of the MBZIRC competition (Presenter: Goran Vasiljević, UNIZG-FER)
  • 14:15 – 15:00 Team UNZIG-FER – Target identification and docking (Presenter: Goran Vasiljević, UNIZG-FER)
  • 15:00 – 15:45 Team UNIZG-FER – Heterogeneous system for object retrieval in maritime environment (Presenter: Antun Ivanović, UNIZG-FER)
  • 15:45 – 16:00 Break
  • 16:00 – 16:45 Team ROC at MBZIRC 2024 (Presenter: Tobias Stenbock, DTU)
  • 16:45 – 17:30 Team Warsaw Mimotaurs at MBZIRC 2024 (Presenter Karol Pieniący, UWA)
  • 17:30 – 18:00 Discussion & Conclusion