Journal papers

• 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

• 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

• 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

• 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

• 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

• 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.

• 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

• 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

• 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

• 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

• 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

• 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.

• 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

• 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

• 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

• 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

• 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

• 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

• 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.

• 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.

• 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.

• 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.

• 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.

• 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.

• 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.

• 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.

• 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.

• 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.

• 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.

• 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

• 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

• 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)