Ondřej Straka


Associate professor

Identification and Decision Making
Department of Cybernetics
Faculty of Applied Sciences
University of West Bohemia

Email:
straka30 (at) kky.zcu.cz
Phone:
+420 377 632 553
ORCID:

Publications


Journal papers
[2020]
  • Matoušek, J., Duník. J., & Straka, O. (2020). Density Difference Grid Design in a Point-Mass Filter. Energies, 13(16): 1-18. doi.org/10.3390/en13164080
  • Straka, O. & Punčochář, I., (2020). Decentralized and Distributed Active Fault Diagnosis: Multiple Model Estimation Algorithms. International Journal of Applied Mathematics and Computer Science, 30(2): 239-249. doi.org/10.34768/amcs-2020-0019
  • Fehér, M., Straka, O., & Šmídl, V. (2020). Model predictive control of electric drive system with L1-norm. European Journal of Control, 56: 242-253. doi.org/10.1016/j.ejcon.2020.01.008
[2019]
  • Duník, J., Kost, O., Straka, O., & Blasch, E. (2019). State and measurement noise in positioning and tracking: Covariance matrices Estimation and Gaussianity Assessment. Journal of Guidance, Control, and Dynamics, 43(1): 132–139. doi.org/10.1109/PLANS.2018.8373523
  • Duník, J., & Straka, O. (2019). Design of Rao-Blackwellized Point-Mass Smoother for Conditionally Linear and Gaussian Models. IEEE Transactions on Signal Processing, 67(23): 6053-6066. doi.org/10.1109/TSP.2019.2949506
  • Ajgl, J., Straka, O. (2019). Decentralised estimation with correlation limited by optimal processing of independent data. Automatica, 99: 132-137. doi.org/10.1016/j.automatica.2018.10.036
  • Duník, J., Straka, O., Noack, B., Steinbring, J. & Hanebeck, U. D. (2019). Directional splitting of Gaussian density in non-linear random variable transformation. In IET Signal Processing. doi.org/10.1049/iet-spr.2017.0286
  • Duník, J., Soták, M., Veselý, M., Straka, O., & Hawkinson, W. (2019). Design of Rao-Blackwellised Point-Mass Filter with Application in Terrain Aided Navigation. IEEE Transactions on Aerospace and Electronic Systems. doi.org/10.1109/TAES.2018.2850210
[2018]
  • Duník, J. & Straka, O. (2018). State estimate consistency monitoring in Gaussian filtering framework. Signal Processing, 148: 145-156. doi.org/10.1016/j.sigpro.2018.02.013
  • Ajgl, J. & Straka, O. (2018). Covariance Intersection in Track-to-Track Fusion: Comparison of Fusion Configurations. IEEE Transactions on Industrial Informatics , 17(3): 1127-1136. doi.org/10.1109/TII.2017.2782234
  • Ajgl, J. & Straka, O. (2018). Fusion of Multiple Estimates by Covariance Intersection: Why and How It Is Suboptimal. International Journal of Applied Mathematics and Computer Science, 28(3): 521-530. doi.org/10.2478/amcs-2018-0040
  • Prüher, J. & Straka, O. (2018). Gaussian Process Quadrature Moment Transform. IEEE Transactions on Automatic Control, 63(9): 2844-2854. doi.org/10.1109/TAC.2017.2774444
  • Duník, J., Straka, O., & Kost, O. (2018). Design of measurement difference autocovariance method for estimation of process and measurement noise covariances. Automatica, 90: 16-24. doi.org/10.1016/j.automatica.2017.12.040
  • Škach, J., Kiumarsi, B., Lewis, F. L., & Straka, O. (2018). Actor-Critic Off-Policy Learning for Optimal Control of Multiple-Model Discrete-Time Systems. IEEE Transactions on Cybernetics, 48(1): 29–40. doi:10.1109/TCYB.2016.2618926
[2017]
  • Duník, J., Straka, O., Kost, O., & Havlík, J. (2017). Noise covariance matrices in state-space models: A survey and comparison of estimation methods—Part I. Int. J. Adapt. Control Signal Process., 31(11): 1505–1543. doi:10.1002/acs.2783
  • Duník, J., Straka, O., & Šimandl, M. (2017). On Autocovariance Least-Squares Method for Noise Covariance Matrices Estimation. IEEE Transactions on Automatic Control, 62(2), 967 - 972. doi:10.1109/TAC.2016.2571899
[2016]
  • Duník, J., Straka, O., Šimandl, O., & Blasch, E. (2016). Sigma-Point Set Rotation for Derivative-Free Filters in Target Tracking Applications. Journal of Advances in Information Fusion, 11(1), 91 - 109.
  • Šimandl, M., Straka, O., & Duník, J. (2016). Efficient adaptation of design parameters of derivative-free filters. Automation and Remote Control, 77(2), 261 - 276. doi:10.1134/S0005117916020041
[2015]
  • Duník, J., Straka, O., Šimandl, M., & Blasch, E. (2015). Random-Point-Based Filters: Analysis and Comparison in Target Tracking. IEEE Transactions on Aerospace and Electronic Systems, 51(2), 1403 – 1421.
[2014]
  • Straka, O., Duník, J., & Šimandl, M. (2014). Unscented Kalman filter with advanced adaptation of scaling parameter. Automatica, 50(10), 2657–2664. doi:10.1016/j.automatica.2014.08.030
[2013]
  • Duník, J., Straka, O., & Šimandl, M. (2013). Stochastic Integration Filter. IEEE Transactions on Automatic Control, 58(6), 1561–1566. doi:10.1109/TAC.2013.2258494
[2012]
  • Duník, J., Šimandl, M., & Straka, O. (2012). Unscented Kalman Filter: Aspects and Adaptive Setting of Scaling Parameter. IEEE Transactions on Automatic Control, 57(9), 2411–2416. doi:10.1109/TAC.2012.2188424
[2011]
  • Straka, O., & Šimandl, M. (2011). Particle filter with adaptive sample size. Kybernetika, 47(3), 385–400.
  • Straka, O., Duník, J., & Šimandl, M. (2011). Truncation nonlinear filters for state estimation with nonlinear inequality constraints. Automatica, 48(2), 286–273. doi:10.1016/j.automatica.2011.11.002
[2008]
  • Šimandl, M.; Straka, O. (2008): Functional sampling density design for particle filters. Signal Processing, 2008, roč. 2008, č. 11, s. 2784-2789. ISSN: 0165-1684.
Conference papers
[2020]
  • Duník, J., Straka, O., & Matoušek, J., (2020). Reliable Convolution in Point-Mass Filter for a Class of Nonlinear Models. In Proceedings of the 2020 IEEE 23rd International Conference on Information Fusion (FUSION), pp. 1-7, Rustenburg, South Africa. doi.org/10.23919/FUSION45008.2020.9190218
  • Fehér, M. & Straka, O. (2020). Time-to-go function of double-integrator system with asymmetrical constraints. In Proceeding of 2020 European Control Conference (ECC). Saint Petersburg, pp. 178-183. Sun City. doi.org/10.23919/ECC51009.2020.9143865
  • Ajgl, J. & Straka, O. (2020). Design of Confidence Sets for Estimation with Approximate Piecewise Linear Constraint. In Proceedings of the 2020 European Control Conference (ECC), pp. 825-830, Saint Petersburg. doi.org/10.23919/ECC51009.2020.9143764
  • Duník, J., Kost, O., Straka, O., & Blasch, E. (2020). Navigation and Estimation Improvement by Environmental-Driven Noise Mode Detection. In Proceedings of the 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS), pp. 925-932, Portland, USA. doi.org/10.1109/PLANS46316.2020.9110200
  • Ajgl, J. & Straka, O. (2020). Inverse Covariance Intersection Fusion of Multiple Estimates. In Proceedings of the 2020 IEEE 23rd International Conference on Information Fusion (FUSION), pp. 1-8, Rustenburg, South Africa. doi.org/10.23919/FUSION45008.2020.9190614
  • Straka, O., & Duník, J. (2020). Resampling-free Stochastic Integration Filter. In Proceedings of the 2020 IEEE 23rd International Conference on Information Fusion (FUSION), pp. 1-8, Rustenburg, South Africa. doi.org/10.23919/FUSION45008.2020.9190535
  • Duník, J., Kost, O., & Straka, O. (2020). Estimation of Parameters of Gaussian Sum Distributed Noises in State-Space Models. Proceedings of the 21st IFAC World Congress, Berlin, Germany.
  • Duník, J., Straka, O., & Matoušek, J. (2020). Conditional Density Driven Grid Design in Point-Mass Filter. In Proceedings of the 2020 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), pp. 9180-9184, Barcelona. doi.org/10.1109/ICASSP40776.2020.9052962
  • Ajgl, J. & Straka, O. (2020). Evaluation of Confidence Sets for Estimation with Piecewise Linear Constraint. In Proceedings of the 2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2020), pp. 146-151, Karlsruhe. doi.org/10.23919/ECC51009.2020.9143764
  • Straka, O. & Punčochář, I. (2020). Hierarchical Active Fault Diagnosis for Stochastic Large Scale Systems with Coupled Faults. Proceedings of the 2020 IEEE 23rd International Conference on Information Fusion (FUSION), pp 1-8, Rustenburg, South Africa. doi.org/10.23919/FUSION45008.2020.9190304
  • Straka, O., & Punčochář, I. (2020). Distributed Active Faults Diagnosis for Systems with Conditionally Dependent Faults. Proceedings of the 21st IFAC World Congress, Berlin, Germany.
[2019]
  • Ajgl, J. & Straka, O. (2019). Calculation of Support Function for Fusion Under Partial Knowledge. In Proceedings of the 2019 IEEE International Conference on Industrial Cyber Physical Systems, 224-229. doi.org/10.1109/ICPHYS.2019.8780334
  • Ajgl, J. & Straka, O. (2019). On Fusion of Partial Estimates Under Implicit Partial Knowledge of Correlation. In Proceedings of the 2019 22th International Conference on Information Fusion (FUSION), pp. 1-8, Ottawa, Canada. ieeexplore.ieee.org/document/9011251
  • Straka, O. & Punčochář, I., (2019). Decentralized and Distributed Active Fault Diagnosis for Stochastic Systems with Indirect Observations. In Proceedings of the 2019 22th International Conference on Information Fusion (FUSION), pp. 1-8, Ottawa, Canada. ieeexplore.ieee.org/document/9011433
  • Duník, J., Straka, O., & Blasch, E. (2019). Solution Separation Unscented Kalman Filter. In Proceedings of the 2019 22th International Conference on Information Fusion (FUSION), pp. 1-8, Ottawa, Canada. ieeexplore.ieee.org/document/9011214
  • Havlík, J. & Straka, O. (2019). Measures of Nonlinearity and non-Gaussianity in Orbital Uncertainty Propagation. In Proceedings of the 2019 22th International Conference on Information Fusion (FUSION), pp. 1-8, Ottawa, Canada. ieeexplore.ieee.org/document/9011445
  • Krejčí, J. & Straka, O. (2019). Adaptive Gaussian Mixture Method for Uncertainty Propagation in Space Surveillance. In Proceeding of the 15th European Workshop on Advanced Control and Diagnosis, Bologna. www.researchgate.net/publication/337544932_Adaptive_Gaussian_Mixture_Method_for_Uncertainty_Propagation_in_Space_Surveillance
  • Duník, J. & Straka, O. (2019). Rao-Blackwellised Point-Mass Smoothers for a Class of Conditionally Linear Dynamic Models. In Proceedings of the 2019 22th International Conference on Information Fusion (FUSION), pp. 1-8, Ottawa, Canada. https://ieeexplore.ieee.org/document/9011246
  • Ajgl, J. & Straka, O. (2019). Rectification of Partitioned Covariance Intersection. In Proceedings of the 2019 American Control Conference (ACC), pp. 5786-5791 , Philadelphia, USA. https://doi.org/10.23919/ACC.2019.8814466
  • Matoušek, J., Duník, J., & Straka, O. (2019). Point-Mass Filter: Density Specific Grid Design and Implementation. In Proceedings of the 15th European Workshop on Advanced Control and Diagnosis, Bologna. www.researchgate.net/publication/337534568_Point-Mass_Filter_Density_Specific_Grid_Design_and_Implementation
  • Punčochář, I. & Straka, O. (2019). Non-centralized active fault diagnosis for stochastic systems. In Proceedings of the 2019 American Control Conference (ACC), pp. 5052-5057 , Philadelphia, USA. doi.org/10.23919/ACC.2019.8814809
[2018]
  • Havlík, J., Straka, O., Hanebeck, U.D., (2018). Stochastic Integration Filter: Theoretical and Implementation Aspects. In Proceedings of the 2018 21st International Conference on Information Fusion (FUSION) (pp. 1638-1645). Cambridge, UK. doi.org/10.23919/ICIF.2018.8455586
  • Radtke, S., Noack, B., Hanebeck, U.D., Straka, O. (2018). Reconstruction of Cross-Correlations with Constant Number of Deterministic Samples. In Proceedings of the 2018 21st International Conference on Information Fusion (FUSION) (pp. 1638-1645). Cambridge, UK. doi.org/10.23919/ICIF.2018.8455221
  • Neduchal, P., Flídr, M., & Železný, M. (2018). In Fast Frontier Detection Approach in Consecutive Grid Maps. In Lecture Notes in Computer Science book series (pp. 192-201). Cham, Switzerland: Springer.
  • Kost, O., Duník, J. & Straka, O. (2018). Noise Moment and Parameter Estimation of State-Space Model. In Proceedings of the 18th IFAC Symposium on System Identification (SYSID 2018) (pp. 891-896). Stockholm, Sweden. doi.org/10.1016/j.ifacol.2018.09.107
  • Duník, J., Kost, O., Straka, O. & Blasch, E. (2018). State and Measurement Noise in Positioning and Tracking: Covariance Matrices Estimation and Gaussianity Assessment. In Proceedings of the 2018 IEEE/ION Position, Location and Navigation Symposium (PLANS) (pp. 1326-1335). Monterey, USA. doi.org/10.1109/PLANS.2018.8373523
  • Punčochář, I. & Škach, J. (2018). A Survey of Active fault Diagnosis Methods. In IFAC-PapersOnLine, 51(24) (pp. 1091-1098). doi.org/10.1016/j.ifacol.2018.09.726
  • Straka, O. & Duník, J. (2018). Entropy-based Consistency Monitoring for Stochastic Integration Filter. In Proceedings of the 21st International Conference on Information Fusion (FUSION 2018), (pp. 1676-1683), Cambridge, UK. doi.org/10.23919/ICIF.2018.8455462
  • Ajgl, J., & Straka, O. (2018). Comparison of Fusions Under Unknown and Partially Known Correlations. In Proceedings of the 7th IFAC Workshop on Distributed Estimation and Control in Networked Systems, Elsevier, (pp. 295-300).
  • Punčochář, I., & Straka, O. (2018). Multiple-model Active Fault Diagnosis with Deferred Decisions. Accepted to the 57th IEEE Conference on Decision and Control (CDC).
  • Kost, O., Duník, J., & Straka, O. (2018). Correlated Noise Characteristics Estimation for Linear Time-Varying Systems. Accepted to the 57th IEEE Conference on Decision and Control (CDC).
  • Ajgl, J. & Straka, O. (2018). Analysis of Partial Knowledge of Correlations in an Estimation Fusion Problem. In Proceedings of the 21st International Conference on Information Fusion (FUSION 2018), (pp. 100-107), Cambridge, UK. doi.org/10.23919/ICIF.2018.8455770
  • Kost, O., Duník, J. & Straka, O. (2018). Estimation of Noise Means and Covariance Matrices for Linear Time-Varying Models. In Proceedings of the American Control Conference (ACC), (pp. 265-271), Milwauke, USA. doi.org/10.23919/ACC.2018.8430851
  • Havlík, J., Straka, O., Duník, J., & Ajgl, J. (2018). Stochastic Integration Filter with Improved State Estimate Mean-Square Error Computation. Informatics in Control, Automation and Robotics, 430: 423–439. doi:10.1007/978-3-319-55011-4_21
[2017]
  • Fehér, M., Straka, O., Šmídl, V., & Janouš, Š. (2017). Constrained time-optimal control of PMSM with continuous control domain. In Proceedings of the 2017 IEEE International Symposium on Predictive Control of Electrical Drives and Power Electronics (PRECEDE) (pp. 42-47). Pilsen, Czech Republic. ISBN: 978-1-5386-0507-3, ieeexplore.ieee.org/document/8071266
  • Ajgl, J. & Straka, O. (2017). On Weak Points of the Ellipsoidal Intersection Fusion. In Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017) (pp. 28-33). Daegu, South Korea. doi:10.1109/MFI.2017.8170403
  • Fehér, M., Straka, O., & Šmídl, V. (2017). Efficient MPC for permanent magnet synchronous motor. In Proceedings of the 25th Mediterranean Conference on Control and Automation (pp. 36 – 41). Valletta, Malta. doi:10.1109/MED.2017.7984092
  • Bouček, Z., Straka, O., & Flídr, M. (2017). Attitude Estimation for Quadrotor UAV by Unscented Kalman Filter. In Proceedings of the 14th European Workshop on Advanced Control and Diagnosis. Buccharest, Romania.
  • Fehér, M., Straka, O., & Šmídl, V. (2017). Oscillation Reduction for Time-Optimal Control of Permanent Magnet Synchronous Motor. In Proceedings of the 14th European Workshop on Advanced Control and Diagnosis. Buccharest, Romania.
  • Punčochář, I., Straka, O. & Taufer, J. (2017). Locomotive position and speed estimation in post-processing mode. In Proceedings of the 14th European Workshop on Advanced Control and Diagnosis. Bucharest, Romania.
  • Ajgl, J. & Straka, O. (2017). A Geometrical Perspective on Fusion under Unknown Correlations based on Minkowski Sums. In Proceedings of the 20th International Conference Information Fusion (FUSION 2017) (pp. 1-8). Xi'an, China. doi:10.23919/ICIF.2017.8009722
  • Duník, J., Straka, O., Ajgl, J. & Blasch, E. (2017). From Competitive to Cooperative Filter Design. In Proceedings of the 20th International Conference Information Fusion (FUSION 2017) (pp. 1-9). Xi'an, China. doi:10.23919/ICIF.2017.8009652
  • Duník, J., Straka, O., & García-Fernández, Á. F. (2017). Performance Evaluation of Nonlinearity and Non-Gaussianity Measures in State Estimation. In Proceeding of the 20th International Conference Information Fusion (FUSION 2017) (pp. 1-10). Xi'an, China. doi:10.23919/ICIF.2017.8009699
  • Prüher, J., Tronarp, F., Karvonen, T., Särkkä, S., & Straka, O. (2017). Student-t Process Quadratures for Filtering of Non-Linear Systems with Heavy-Tailed Noise. In Proceedings of the 20th International Conference Information Fusion (FUSION 2017) (pp. 1-8). Xi'an, China. doi:10.23919/ICIF.2017.8009742
  • Straka, O. & Duník, J. (2017). Stochastic Integration Student’s-t Filter. In Proceedings of the 20th International Conference Information Fusion (FUSION 2017) (pp. 1-8). Xi'an, China. doi:10.23919/ICIF.2017.8009741
  • Kost, O., Duník, J., & Straka, O. (2017). Noise Covariance Matrix Estimation in Navigation and Tracking: Impact of Linearisation Error. In Proceedings of the 56th IEEE Conference on Decision and Control (pp. 958-964). Melbourne, Australia. doi:10.1109/CDC.2017.8263782
  • Škach, J., Straka, O., & Punčochář, I. (2017). Efficient Active Fault Diagnosis Using Adaptive Particle Filter. In Proceedings of the 56th IEEE Conference on Decision and Control (pp. 5732-5738). Melbourne, Australia. doi:10.1109/CDC.2017.8264525
  • Král, L. & Straka, O. (2017). Nonlinear Estimator Design for MEMS Gyroscope with Time-varying Angular Rate. In Proceedings of the 20th World Congress of IFAC (pp. 3195–3201). Tolouse, France: Elsevier Ltd. doi:10.1016/j.ifacol.2017.08.433
  • Škach, J., Punčochář, I., & Straka, O. (2017). Active Fault Diagnosis for Jump Markov Nonlinear Systems. In Proceedings of the 20th World Congress of IFAC (pp. 7308–7313). Tolouse, France: Elsevier Ltd. doi:10.1016/j.ifacol.2017.08.1465
[2016]
  • Duník, J., Straka, O., & Kost, O. (2016). Measurement Difference Autocovariance Method for Noise Covariance Matrices Estimation. In Proceedings of the 55th IEEE Conference on Decision and Control (CDC). Las Vegas, NV, USA. doi: 10.1109/CDC.2016.7798296
  • Fehér, M., Straka, O., & Šmídl, V. (2016). Constrained time-optimal control of double-integrator system and its application in MPC. In Proceedings of the 13th European Workshop on Advanced Control and Diagnosis. Lille, France. doi:10.1088/1742-6596/783/1/012024
  • Kost, O., Duník, J., & Straka, O. (2016). Noise Covariance Matrices Estimation for Systems with Time-Varying Availability of Sensors. In Proceedings of the 13th European Workshop on Advanced Control and Diagnosis. Lille, France. doi:10.1088/1742-6596/783/1/012059
  • Ajgl, J. & Straka, O. (2016). Covariance Intersection in Track-to-Track Fusion With Memory. In Proccedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016) (pp. 359-364). Baden-Baden, Germany. doi:10.1109/MFI.2016.7849514
  • Ajgl, J. & Straka, O. (2016). Covariance Intersection in Track-to-Track Fusion Without Memory. In Proceeding of the 19th International Conference Information Fusion (FUSION 2016) (pp. 1-8). Heidelberg, Germany.
  • Straka, O. & Duník, J. (2016). Characteristic Function Based Performance Index for Bayesian Filters. In Proceeding of the 19th International Conference Information Fusion (FUSION 2016) (pp. 1-8). Heidelberg, Germany.
  • Straka, O., Mallick, M., & Blasch, E. (2016). Survey of Nonlinearity and Non-Gaussianity Measures for State Estimation. In Proceeding of the 19th International Conference Information Fusion (FUSION 2016) (pp. 1-8). Heidelberg, Germany.
  • Havlík, J., Straka, O., Duník, J., & Ajgl, J. (2016). On Nonlinearity Measuring Aspects of Stochastic Integration Filter. In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics (ICINCO), 2016 (pp. 353-361). Lisabon, Portugal. doi:10.5220/0005983903530361
  • Straka, O., Duník. J., & Punčochář, I. (2016). Directional Splitting for Structure Adaptation of Bayesian Filters. In Proceedings of the 2016 American Control Conference (pp. 2705-2710). Boston, MA, USA. doi:10.1109/ACC.2016.7525327
[2015]
  • Straka, O., Duník, J., & Šimandl, M. (2015). Structure Adaptation of Nonlinear Filters based on Non-Gaussianity Measures. In Proceedings of the American Control Conference 2015 (pp. 3162-3167). Chicago, Illinois, USA. doi:10.1109/ACC.2015.7171819
  • Duník, J., Straka, O., Šimandl, M., Kost, O., Ajgl, J., Soták, M., Baránek, R., & Kaňa, Z. (2015). Estimation of State and Measurement Noise Characteristics. In Proceeding of the 18th International Conference Information Fusion (FUSION 2015) (pp. 1817-1824). Washington, DC, USA.
  • Straka, O., Duník, J., & Šimandl, M. (2015). Design of Discrete Second Order Filters for Continuous-Discrete Models. In Proceeding of the 18th International Conference Information Fusion (FUSION 2015) (pp. 1825-1832). Washington, DC, USA.
  • Duník, J., Straka, O., & Šimandl, M. (2015). Estimation of Noise Covariance Matrices for Linear Systems with Nonlinear Measurements Measures. Proceedings of the 17th IFAC Symposium on System Identification (SYSID 2015) (pp. 1130–1135). Beijing, China. doi:10.1016/j.ifacol.2015.12.283
  • Havlík, J., Šimandl, M., & Straka, M. (2015). A new practically oriented generation of nonlinear filtering toolbox. Proceedings of the 17th IFAC Symposium on System Identification (SYSID 2015) (pp. 1070–1075). Beijing, China. doi:10.1016/j.ifacol.2015.12.273
  • Havlík, J., & Straka, O. (2015). Performance evaluation of iterated extended Kalman filter with variable step-length. Journal of Physics: Conference Series, 659(1), 1–12. doi:10.1088/1742-6596/659/1/012022
  • Kost, O., Straka, O, & Duník, J. (2015). Identification of State and Measurement Noise Covariance Matrices using Nonlinear Estimation Framework. Journal of Physics: Conference Series, 659(1), 1–12. doi:10.1088/1742-6596/659/1/012057
[2014]
  • Straka, O., Duník, J., & Šimandl, M. (2014). Performance diagnosis of local filters in state estimation of nonlinear systems. Journal of Physics: Conference Series, 570(1), 1–12. doi:10.1088/1742-6596/570/1/012004
  • Duník, J., Straka, O., & Šimandl, M. (2014). Self-assessment of local filters by non-Gaussianity measures. In Proceedings of the American Control Conference 2014 (pp. 1723–1728). Portland, Oregon, USA: IEEE. doi:10.1109/ACC.2014.6858740
  • Duník, J., Straka, O., & Šimandl, M. (2014). On sigma-point set rotation in derivative-free filters. In Proceeding of the 17th International Conference Information Fusion (FUSION 2014) (pp. 1–8). Salamanca, Spain: IEEE.
  • Straka, O., Duník, J., Šimandl, M., & Blasch, E. P. (2014). Comparison of adaptive and randomized unscented Kalman filter algorithms. In Proceeding of the 17th International Conference Information Fusion (FUSION 2014) (pp. 1–8). Salamanca, Spain: IEEE.
  • Straka, O., Duník, J., & Šimandl, M. (2014). Measures of non-Gaussianity in unscented Kaiman filter framework. Proceeding of the 17th International Conference Information Fusion (FUSION 2014) (pp. 1–8). Salamanca, Spain: IEEE.
  • Duník, J., Straka, O., & Šimandl, M. (2014). Sigma-Point Set Rotation in Unscented Kalman Filter: Analysis and Adaptation. In Proceedings of the19th World Congress of IFAC (pp. 5951–5956). Cape Town, South Africa: Elsevier Ltd. doi:10.3182/20140824-6-ZA-1003.00611
  • Straka, O., Duník, J., & Šimandl, M. (2014). Design of Pure Propagation Unscented Kalman Filter. In Proceedings of the19th World Congress of IFAC (pp. 5933–5938). Cape Town, South Africa: Elsevier Ltd. doi:10.3182/20140824-6-ZA-1003.00583
  • Flídr, M., Straka, O., & Šimandl, M. (2014). Nonlinear Estimation Software Framework in Optimal and Adaptive Control Problems. In Proceedings of the 19th IFAC World Congress, 2014 (pp. 5485–5490). Cape Town, South Africa: Elsevier Ltd. doi:10.3182/20140824-6-ZA-1003.02260
[2013]
  • Punčochář, I., Straka, O., & Šimandl, M. (2013). Confidence Regions for Multi-Sensor State Estimation under Faulty Measurements. In Proceedings of the 2013 Conference on Control and Fault-Tolerant Systems (SysTol) (pp. 202–207). Nice, France: IFAC. doi:10.1109/SysTol.2013.6693922
  • Straka, O., Duník, J., Šimandl, M., & Havlík, J. (2013). Truncated randomized unscented Kalman filter for interval constrained state estimation. In Proceedings of the 16th International Conference on Information Fusion (FUSION 2013) (pp. 2081 – 2088). Istanbul, Turkey: IEEE.
  • Duník, J., Straka, O., & Šimandl, M. (2013). Nonlinearity and non-Gaussianity measures for stochastic dynamic systems. In Proceedings of the 16th International Conference on Information Fusion (FUSION 2013) (pp. 204 – 211). Istanbul, Turkey: IEEE.
  • Straka, O., Duník, J., Šimandl, M., & Havlík, J. (2013). Aspects and comparison of matrix decompositions in unscented Kalman filter. In American Control Conference (ACC) (pp. 3075 – 3080).
  • Flídr, M., Straka, O., Havlík, J., & Šimandl, M. (2013). Nonlinear Estimation Framework: a Versatile Tool for State Estimation. In Proceedings of the 18th International Conference on Methods & Models in Automation & Robotics (MMAR 2013) (pp. 490–495). Miedzyzdrojie, Poland.
[2012]
  • Blasch, E. P., Straka, O., Yang, C., Qiu, D., Šimandl, M., & Ajgl, J. (2012). Distributed tracking fidelity-metric performance analysis using confusion matrices. In 15th International Conference on Information Fusion (FUSION), 2012 (pp. 2012 – 2019).
  • Straka, O., Duník, J., Šimandl, M., & Blasch, E. P. (2012). Randomized unscented transform in state estimation of non-Gaussian systems: Algorithms and performance. In 15th International Conference on Information Fusion (FUSION), 2012 (pp. 2004 – 2011).
  • Bouček, V., Straka, O., & Šimandl, M. (2012). Robust nonlinear filter based on the James-Stein estimator. In Proceedings of the 10th European Workshop on Advanced Control and Diagnosis. Kongens Lyngby, Denmark.
  • Straka, O., Duník, J., & Šimandl, M. (2012). Unscented Kalman Filter with Controlled Adaptation. In K. Michel (Ed.), Proceedings of the 16th IFAC Symposium on System Identification, 2012 (pp. 906–911). Brussels, Belgium: IFAC. doi:10.3182/20120711-3-BE-2027.00163
  • Straka, O., Duník, J., & Šimandl, M. (2012). Randomized unscented Kalman filter in target tracking. In 15th International Conference on Information Fusion (FUSION), 2012 (pp. 503 – 510).
  • Straka, O., Duník, J., & Šimandl, M. (2012). Scaling parameter in unscented transform: Analysis and specification. In Proceedings of the American Control Conference 2012 (pp. 5550 – 5555). Montréal, Canada: AACC.
  • Punčochář, I., Straka, O., & Šimandl, M. (2012). Design Aspects of Safe Positioning using Global Navigation Satellite Systems: A Brief Survey. In Proceedings of the 10th European Workshop on Advanced Control and Diagnosis. Kongens Lyngby, Denmark.
[2011]
  • Bouček, V., Šimandl, M., & Straka, O. (2011). Measurement-to-track assignment methods in target tracking. In Carpathian Control Conference (ICCC), 2011 12th International (pp. 32–36). Velké Karlovice, Czech Republic: IEEE. doi:10.1109/CarpathianCC.2011.5945810
  • Straka, O., & Šimandl, M. (2011). An Efficient Constrained Gaussian Particle Filter. In B. Sergio (Ed.), 18th IFAC World Congress (pp. 11973–11978). Milano, Italy: Elsevier. doi:10.3182/20110828-6-IT-1002.01833
  • Straka, O., Duník, J., & Šimandl, M. (2011). Truncated unscented particle filter. In American Control Conference (ACC 2011) (pp. 1825–1830). San Francisco, CA, USA: IEEE.
  • Straka, O., Duník, J., & Šimandl, M. (2011). Gaussian sum unscented Kalman filter with adaptive scaling parameters. In Information Fusion (FUSION), 2011 Proceedings of the 14th International Conference on (pp. 9–16). Chicago, IL, USA: IEEE.
  • Duník, J., Straka, O., & Šimandl, M. (2011). The Development of a Randomised Unscented Kalman Filter. In B. Sergio (Ed.), 18th IFAC World Congress (pp. 8–13). Milano, Italy: Elsevier. doi:10.3182/20110828-6-IT-1002.01828
  • Flídr, M., Straka, O., & Šimandl, M. (2011). Pruning and merging strategies in receding horizon bicriterial dual controller with multiple linearization. In 19th Mediterranean Conference on Control & Automation (MED 2011) (pp. 832–837). Kerkyra, Corfu, Greece: IEEE. doi:10.1109/MED.2011.5983213
  • Straka, O., Duník, J., & Šimandl, M. (2011). Performance evaluation of local state estimation methods in bearings-only tracking problems. In Proceedings of the 14th International Conference on Information Fusion (FUSION 2011) (pp. 1874–1881). Chicago, IL, USA: IEEE.
[2010]
  • Blasch, E.; Straka, O.; Duník, J.; Šimandl, M. (2010) Multitarget Tracking Performance Analysis Using the Non-Credibility Index in the Nonlinear Estimation Framework (NEF) Toolbox. In Proceeding of National Aerospace and Electronics Conference 2010. Institute of Electrical and Electronics Engineers ( IEEE ), 2010.
  • Duník, J.; Šimandl, M.; Straka, O. (2010) Adaptive Choice of Scaling Parameter in Derivative-Free Local Filters. In Proceedings of the 13th International Conference on Information Fusion. 2010.
  • Duník, J.; Šimandl, M.; Straka, O. (2010) Multiple-model filtering with multiple constraints. In Proceedings of the American Control Conference. New York : IEEE, 2010. s. 6858-6863. ISBN: 978-1-4244-7427-1.
  • Straka, O.; Flídr, M.; Duník, J.; Šimandl, M.; Blasch, E. (2010) Nonlinear estimation framework in target tracking. In Proceedings of the 13th International Conference on Information Fusion. 2010.
  • Straka, O.; Šimandl, M.; Duník, J. (2010) Design of nonlinear global filter with nonlinear constraints. Proceedings of the IASTED International Conference on Modelling, Identification and Control, 2010, roč. 29, č. 1, s. 314-320. ISSN: 1025-8973.
[2009]
  • Duník, J.; Šimandl, M.; Straka, O. (2009) Methods for Estimating State and Measurement Noise Covariance Matrices: Aspects and Comparison. In: Proceeding of the 15th IFAC Symposium on System Identification, 2009, ISSN: 1474-6670
  • Straka, O.; Flídr, M.; Duník, J.; Šimandl, M. (2009) A Software Framework and Tool for Nonlinear State Estimation. In: Proceeding of the 15th IFAC Symposium on System Identification, 2009, s. 510-515. ISSN: 1474-6670
  • Straka, O.; Šimandl, M. (2009) A Survey of Sample Size Adaptation Techniques for Particle Filters. In: Proceeding of the 15th IFAC Symposium on System Identification, 2009, s. 1358-1363. ISSN: 1474-6670
  • Straka, O.; Šimandl, M.; Duník, J. (2009) Gaussian Mixtures Proposal Density in Particle Filter for Track-Before-Detect. In FUSION: 2009 12th International Conference on Information Fusion, Vols 1-4., pp. 270-277. ISBN: 978-0-9824-4380-4.
[2008]
  • Straka, O.; Šimandl, M. (2008): Adaptive Particle Filter with Fixed Empirical Density Quality. In Proceedings of the 17th IFAC World Congress. [s.l.] : IFAC, 2008. s. 6484-6489. ISBN 978-3-902661-00-5.
  • Šimandl, M.; Straka, O. (2008): Functional sampling density design for particle filters. In Signal Processing. 2008, roč.2008, sv.88, č.11, s.2784-2789, ISSN 0165-1684.
[2007]
  • Šimandl, M.; Straka, O. (2007): Sampling Densities of Particle Filter: A Survey and Comparison. In Proceedings of the 2007 American Control Conference. New York : AACC, 2007. s. 4437-4442. ISBN 1-4244-0989-6. ISSN 0743-1619.
[2006]
  • Flídr M., Duník J., Straka O., Švácha J., Šimandl M. (2006): Framework for implementing and testing nonlinear filters. In: Proceedings of the 7th IFAC Symposium on Advances in Control Education, 21-23 June, Madrid, Spain.
  • Švácha J., Šimandl M., Straka O., Flídr M. (2006): Nonlinear filtering toolbox for continuous stochastic systems with discrete measurements. In: Proceedings of the 7th IFAC Symposium on Advances in Control Education, 21-23 June, Madrid, Spain.
  • Straka O., Šimandl M. (2006): Particle filter adaptation based on efficient sample size. In: Preprints of the 14th IFAC Symposium on System Identification, Newcastle, Australia, pp. 991-996.
[2005]
  • Duník J., M. Šimandl, O. Straka and M. Flídr (2005). Performance analysis of derivative free filters, In: Proceedings of 44th IEEE Conference on Decision and Control and European Control Conference ECC 2005, Sevilla, 12.-15. December.
  • Straka, O. and M. Šimandl (2005). Distance-based pruning for Gaussian sum method in non-Gaussian system state estimation. In: Proceedings of the eighth IASTED international conference on Intelligent systems and control. Anaheim : ACTA Press, s. 96-101. ISBN 0-88986-517-5
  • Straka O. and M. Šimandl (2005). Using the Bhattacharyya distance in functional sampling density of particle filter, In: Preprints of the 16th IFAC World Congress, July 4-8, Prague, Czech Republic.
  • Šimandl M., Lešek M. and O. Straka (2005). Pension fund model design and state estimation, In: Preprints of the 16th IFAC World Congress, July 4-8, Prague, Czech Republic.
[2004]
  • Straka O. and M. Šimandl (2004). Sample Size Adaptation for Particle Filters, In: Preprints of the16th IFAC Symposium on Automatic control in Aerospace, June 14 - 18, St. Petersburg, Russia.
[2003]
  • Šimandl M. and O. Straka (2003). Sampling Density Design for Particle Filters. Proceedings of the 13th IFAC Symposium on System Identification SYSID, August, Rotterdam, Netherlands.
  • Šimandl M. and O. Straka (2003).Nonlinear Filtering Methods: Some Aspects and Performance Evaluation. Proceedings of the 22nd IASTED conference on Modelling, Identification and Control MIC, February, Innsbruck, Austria.
[2002]
  • Šimandl M.,, Straka, O.(2002). Nonlinear Estimation by Particle Filters and Cramér-Rao Bound. Preprints of the 15th Triennial World Congress of the IFAC, Barcelona, [CD-ROM]. Oxford : Elsevier Science.
Book chapters
[2017]
  • J. Havlik, O. Straka, J. Dunik, and J. Ajgl: „Stochastic Integration Filter with Improved State Estimate Mean-Square Error Computation,“ chapter in Informatics in Control, Automation and Robotics (eds. K. Madani et al.), Springer, 2017.
Journal editor
[2016]
  • J. Dunik and O. Straka (Guest Area Editors): Special Issue on Nonlinear Derivative-Free Filters: Theory and Applications,“ Journal of Advances in Information Fusion, 2016.
Software

Nonlinear Estimation Framework (a Matlab tool for nonlinear state estimation)

Projects

European Centre of Excellence

  • NTIS – New Technologies for the Information Society is a Research centre of the Faculty of Applied Sciences

Czech Science Foundation

  • Intelligent distributed Estimation Architectures" 2020–2022 (International Bilateral Project with Karlsruhe Institute of Technology)
  • Active approach to fault diagnosis in stochastic large-scale systems, 2018–2020
  • Cooperative Approaches to Design of Nonlinear Filters, 2016–2018 (International Bilateral Project with Karlsruhe Institute of Technology)
  • Adaptive Approaches to State Estimation of Nonlinear Stochastic Systems, 2015–2017
  • Consistent Fusion in Networked Estimation Systems, 2013–2015, (International Bilateral Project with Karlsruhe Institute of Technology)
  • State Estimation of Dynamic Stochastic Systems, 2011–2013
  • Feasible approximations of dual control strategies, 2008–2010
  • Theoretical background for integrated process control and optimization, 2005–2007
  • Nonlinear estimation and change detection for stochastic systems, 2001–2003
  • Identification of nonstationary systems, 1997–1999

Technology Agency of the Czech Republic

  • Aircraft position reference system, 2013–2015
  • Safe localization of trains for sidetracks by means of satellite navigation, 2011–2013

Air Force Office of Scientific Research

  • NOTES Nonlinear Estimation Framework for Optimized Target Tracking, Estimation, and Self-assessment, 2016–2019

H2020 GSA

  • STARS - Satellite Technology for Advanced Railway Signalling, 2016–2018

Ministry of Education, Youth and Sports

  • InteCom: R&D of intelligent components of advanced technologies for Pilsen metropolitan area, 2018-2022
  • Data, algorithms, decision making, 2005-2011
  • System theory development and its application in control, intelligent decision-making and communication 1999-2004
  • Center for research in the field of cybernetic systems, 1997–2000

Office of Naval Research

  • Anticipative Point-Mass Method for High-Performance Estimation and Navigation (APHEN), 2020–2022

Teaching activities

Courses taught
  • KKY/STP Stochastic Systems and Processes
  • KKY/TOD Estimation Theory and Signal Processing
  • KKY/ZIS Introduction to System Identification and Fault Detection
  • KKY/MCT Mathematical Control Theory (in English)

PhD students
  • Ing. Jan Krejčí
  • Ing. Jakub Matoušek
  • Ing. Martin Leba
  • Ing. Oliver Kost
  • Ing. Zdeněk Bouček
  • Ing. Marek Fehér
  • Ing. Jindřich Havlík

Alumni
  • Ing. Jan Škach, Ph.D.
  • Ing. Jakub Pruher, Ph.D.

Curriculum vitae

Academic Degrees and Titles
  • 1998, Ing. (M.Sc.), Cybernetics and Control Engineering, Faculty of Applied Sciences, University of West Bohemia, Pilsen
  • 2004, Ph.D., Cybernetics, Faculty of Applied Sciences, University of West Bohemia, Pilsen
  • 2015, Doc. (Assoc. Prof.), Technical Cybernetics, Faculty of Applied Sciences, University of West Bohemia, Pilsen

Training
  • 2017: Multisensor Navigation (GSA, Prague, Czech Republic)

Research interests
  • nonlinear state estimation (Kalman filtering, particle filtering)
  • fault detection
  • signal processing
  • system identification
  • optimal control
  • stochastic processes

Professional Career
  • Research and teaching positions at the Faculty of Applied Sciences, University of West Bohemia, Pilsen, 1999–present
  • Research position at the European Centre of Excellence New Technologies for Information Society (NTIS), 2014-present
  • Head of the Identification and Decision-Making group within the European Centre of Excellence NTIS

Professional Societies
  • Institute of Electrical and Electronics Engineers (IEEE) (since 2015)
  • IEEE Aerospace and Electronic Systems Society Membership (since 2015)
  • The International Society of Information Fusion

Awards and Distinctions
  • Nomination for the Young author award at The 18th IFAC Symposium on System Identification (SYSID 2018)for the paper "Noise Moment and Parameter Estimation of State-Space Model" (Oliver Kost, Jindřich Duník, Ondřej Straka)
  • Tammy Blair Best Student Paper Award (First Runner-up) at the 20th International Conference on Information Fusion (FUSION 2017) for the paper "Student-t Process Quadratures for Filtering of Non-Linear Systems with Heavy-Tailed Noise" (Jakub Prüher, Filip Tronarp, Toni Karvonen, Simo Särkkä, Ondřej Straka)
  • The best paper at the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems for the paper "Covariance Intersection in Track-to-Track Fusion With Memory" (Jiří Ajgl, Ondřej Straka)
  • Windows on Science (WOS) visit and lecture at the Air Force Research Laboratory, Rome, NY, 2016
  • Honorable Mention (top 5) - Best student paper awards at 13th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2016) for the paper "On Nonlinearity Measuring Aspects of Stochastic Integration Filter" (Jindřich Havlík, Ondřej Straka, Jindřich Dunik, Jiří Ajgl)
  • Werner von Siemens Excellence Award 2014 - the most important result of fundamental research
  • Honorable Mention (top 5) the best paper at the 16th International Conference on Information Fusion, 2013 for the paper "Truncated Randomized Unscented Kalman Filter for Interval Constrained State Estimation" (Ondřej Straka, Jindřich Duník, Miroslav Šimandl, Jindřich Havlík)

Publications
  • Author or co-author of more than 100 publications being published at international level
  • Main results in prestigious journals of the field (Automatica, IEEE Transaction on Automatic Control, IEEE Transactions on Aerospace and Electronic Systems, IEEE Transactions on Cybernetics) and at World congresses and symposia of the International Federation of Automatic Control (IFAC), American Control Conference, IEEE Conference on Decision and Control, FUSION conference

Organization of conferences
  • Member of editorial board of International Conference on Information Fusion
  • Associate Editor for the 2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)
  • Associate Editor for the 2021 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)
  • Special Session co-chair of ''19th International Conference on Information Fusion (FUSION 2016)'', Heidelberg, Germany
  • General Chair of the 12th European Workshop on Advanced Control and Diagnosis ACD 2015
  • Member of Steering Commitee of European Workshop on Advanced Control and Diagnosis,

Community activities
  • Reviewer of journals IEEE Transactions on Automatic Control, IEEE Transactions on Signal Processing, IEEE Transactions on Aerospace and Electronic Systems, Signal Processing Letters, Automatica, Signal Processing
  • Associate Editor of Journal of Advances in Information Fusion for the Special Issue “Nonlinear Derivative-Free Filters: Theory and Applications”
  • Tutorial on Noise Covariance Matrices in State Space Models: Overview, Algorithms, and Comparison of Estimation Methods, 20th International Conference on Information Fusion (FUSION, 2017)
  • Tutorial on Noise Covariance Matrices in State Space Models: Overview, Algorithms, and Comparison of Estimation Methods, 21th International Conference on Information Fusion (FUSION, 2018)
  • Tutorial on Estimation of Noise Parameters in State Space Models: Overview, Algorithms, and Comparison, 23rd International Conference on Information Fusion (FUSION, 2020)

Address


University of West Bohemia
Univerzitní 8
306 14 Plzeň
Czech Republic

Phone


+420 377-632-553