Dr. Petr Švec. M.S., Computer Science (Applied Informatics): Faculty of Informatics, Masaryk University, Brno, Czech Republic, 2006

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1 Dr. Petr Švec Department of Mechanical Engineering Cell: University of Maryland Office: Martin Hall, College Park, MD 20742, USA Website: U.S. PERMANENT RESIDENT SUMMARY Have significant experience in robotics research, algorithm development, and project management. Designed, developed, and experimentally evaluated motion planning (~6 years post-ph.d. experience) and machine learning algorithms (3 years post-ph.d. experience) for real-world autonomous robots. EDUCATION Ph.D., Mechanical Engineering: Institute of Automation and Computer Science, Faculty of Mechanical Engineering, Brno University of Technology, Brno, Czech Republic, 2007 Dissertation: Using Methods of Computational Geometry in Robotics M.S., Computer Science (Applied Informatics): Faculty of Informatics, Masaryk University, Brno, Czech Republic, 2006 M.S., Computer Science (Engineering Informatics and Automatization): Institute of Automation and Computer Science, Faculty of Mechanical Engineering, Brno University of Technology, Brno, Czech Republic, 2003 (this was an integrated bachelor s and master s degree awarded after three years of study of Mechanical Engineering and two years of study of Computer Science) B.S., Computer Science (Applied Informatics): Faculty of Informatics, Masaryk University, Brno, Czech Republic, 2004 WORK EXPERIENCE Assistant Research Scientist: Department of Mechanical Engineering, University of Maryland, College Park, MD, USA (July 2011 present) o Developed resolution-adaptive algorithms for trajectory planning and target following in realtime by a catamaran unmanned surface vehicle (USV) operating in an environment with significant civilian traffic. o Developed a coverage planning algorithm for unmanned vehicles (USV, UGV, UAV) that balances between the amount of information gathered in the field and plan execution time, while considering motion uncertainty. o Developed a model-predictive, behavior-based task planning to realize multi-usv patrolling in the presence of intelligent adversaries. o Developed trajectory planning and energy efficient target following algorithms for an unmanned ground vehicle (UGV) operating in a rugged terrain. o Developed a path planning technique for automated transport of biological cells using Holographic Optical Tweezers (HOT) inside a microfluidic chamber. o Developed a pushing-based technique for automated indirect micromanipulation of irregularshaped biological cells using HOT. o Supervised a student on the development of a web-based interface for water-jet and laser cutting manufacturing as a part of the DARPA IFab program. Dr. Petr Švec (05/22/2014) 1

2 Member: Maryland Robotics Center (December 2011 present) Postdoctoral Research Associate: Department of Mechanical Engineering, University of Maryland, College Park, MD, USA (July 2008 July 2011) o Developed a machine learning approach for automated synthesis of action selection policies for unmanned vehicles. o Successfully utilized the developed approach for automated synthesis of an action selection policy for USV to limit the advancement of a deceptive intruder towards an asset. o Developed a heuristic-based search algorithm for risk-aware trajectory planning for robots operating in stochastic environments with static and dynamic obstacles. o Developed a mission planning architecture for unmanned vehicles operating in civilian traffic to allow task planning, behavior selection and execution, trajectory planning, and feedback control. o Developed a path planner for cell transport using Holographic Optical Tweezers (HOT). o Implemented trajectory planning and control algorithms for an autonomous ground vehicle (Autonomous Robot Speedway Competition 10). Graduate Research Assistant: Institute of Automation and Computer Science, Faculty of Mechanical Engineering, Brno University of Technology, Brno, Czech Republic (September 2003 September 2005, September 2006 December 2007) o Developed two geometric approximation algorithms based on the Fortune s plane sweep technique for efficient computation of a generalized Voronoi diagram (GVD). o Utilized the developed algorithms in the context of robot motion planning. This included global and local motion planning for an unmanned ground vehicle (UGV) operating in an environment with polygonal obstacles, and motion planning for multi-robot systems in narrow corridors. o Developed a map generation and exploration algorithm that utilizes the developed geometric algorithms. o Developed a comprehensive motion planning simulator implementing computational geometric techniques and their data structures. Graduate Research Assistant (Research fellowship): Department of Computer Science, Faculty of Engineering, University of Bristol, UK (September 2005 September 2006) Junior Software Developer: Wireless Data Services Global Limited, Poole, UK (September 2006 August 2007) o Utilized Extreme Programming (XP) class of software development techniques, including pair programming and the test-first approach, for the development of a large-scale telecommunication information system. Software Engineer: DELINFO Limited, Brno, Czech Republic (Summer internship, July 2003 August 2003) o Analyzed and documented various modules of a strategic and planning system for the Czech army. o Extended the system by a software module for detailed analysis of direct visibility of units operating in an uneven terrain. Software Engineer: Calyx Limited, Brno, Czech Republic (Internship, September 2002 June 2003) o Designed and developed a web information system for outsourcing IT services as a part of my Master s project at Brno University of Technology. o Acquired very good understanding of business functions, project management, standardized software testing methodologies and processes using IBM Rational Unified Process (RUP). Dr. Petr Švec (05/22/2014) 2

3 COMPUTING SKILLS Programming Languages: C and C++ (3+ years), Java with Eclipse Rich Client Platform + J2EE (4+ years), Matlab (5+ years), Python (1+ year), PHP (2+ years), Ruby (1+ year). Software Libraries and Frameworks: Lightweight Communications and Marshalling (LCM) / Robot Operating System (ROS), OpenCV, Open Scene Graph (OSG), OpenGL, Java 3D, Computational Geometry Algorithms Library (CGAL), and Standard Template Library (STL). Integrated Development Environment: Eclipse, Microsoft Visual Studio, Vizard (a virtual reality development interface). TEACHING EXPERIENCE Graduate Course Instructor: Planning for Autonomous Robots, University of Maryland, College Park, Spring 2013 (ENME696, 10 PhD students) and Spring 2014 (ENMP808C, 11 Master s students) Graduate Course Teaching Assistant: Graph Theory, Brno University of Technology, Spring 2004, 2005 (~25 Master s students) Undergraduate Course Teaching Assistant: Introduction to Design of Algorithms, Brno University of Technology, Fall 2003, 2004 (~30 undergraduate students) MENTORING EXPERIENCE Undergraduate student (UMD): o James Koo (development of a physical infrastructure and corresponding simulation and control software for COLREGs-compliant waypoint navigation for USVs, development of a follow behavior for an autonomous UGV, May 2011 January 2012) JOURNAL PUBLICATIONS 1. E. Raboin, P. Švec, D. S. Nau, and S. K. Gupta. Model-Predictive Asset Defense by Team of Autonomous Surface Vehicles in Environment with Civilian Boats. Autonomous Robots. Conditionally accepted for publication. 2. A. Thakur, S. Chowdhury, P. Švec, C. Wang, W. Losert, and S. K. Gupta. Indirect Pushing Based Automated Micromanipulation of Biological Cells Using Optical Tweezers. The International Journal of Robotics Research. Accepted for publication. 3. P. Švec, A. Thakur, E. Raboin, B. C. Shah, and S. K. Gupta. Target Following with Motion Prediction for Unmanned Surface Vehicle Operating in Cluttered Environments. Autonomous Robots, 36(4), , S. Chowdhury, A. Thakur, P. Švec, C. Wang, W. Losert, and S. K. Gupta. Automated Manipulation of Biological Cells Using Gripper Formations Controlled by Optical Tweezers. IEEE Transactions on Automation Science and Engineering, 11(2), , S. Chowdhury, P. Švec, C. Wang, K.T. Seale, J.P. Wikswo, W. Losert, and S. K. Gupta. Automated Cell Manipulation in Optical Tweezers-Assisted Microfluidic Chamber. IEEE Transactions on Automation Science and Engineering, 10(4), , Dr. Petr Švec (05/22/2014) 3

4 6. Thakur, P. Švec, and S.K. Gupta. GPU Based Generation of State Transition Models Using Simulations for Unmanned Sea Surface Vehicle Trajectory Planning. Robotics and Autonomous Systems, 60(12), , P. Švec and S. K. Gupta. Automated Synthesis of Action Selection Policies for Unmanned Vehicles Operating in Adverse Environments. Autonomous Robots, 32(2), , P. Švec. Kinodynamic Robot Motion Planning Based on the Generalised Voronoi Diagram. Engineering Mechanics: International Journal for Theoretical and Applied Mechanics, 15(2), , PEER-REVIEWED CONFERENCE PUBLICATIONS 1. B. C. Shah, P. Švec, I. R. Bertaska, W. Klinger, A. J. Sinisterra, K. von Ellenrieder, M. Dhanak, and S. K. Gupta. Trajectory Planning with Adaptive Control Primitives for Autonomous Surface Vehicles Operating in Congested Civilian Traffic. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '14), Chicago, IL, USA, September 14-18, To appear. 2. P. Švec, B. C. Shah, I. R. Bertaska, W. Klinger, A. J. Sinisterra, K. von Ellenrieder, M. Dhanak, and S. K. Gupta. Adaptive Sampling Based COLREGs-Compliant Obstacle Avoidance for Autonomous Surface Vehicles. ICRA 2014 Workshop on Persistent Autonomy for Marine Robotics (ICRA PAMR '14), Hong Kong, China, June 5, To appear. 3. M. J. Kuhlman, P. Švec, K. N. Kaipa, D. Sofge, and S. K. Gupta. Physics-Aware Informative Coverage Planning for Autonomous Vehicles. IEEE International Conference on Robotics and Automation (ICRA '14), Hong Kong, China, May 31 June 7, To appear. 4. P. Švec, B. C. Shah, I. R. Bertaska, J. Alvarez, A. J. Sinisterra, K. von Ellenrieder, M. Dhanak, and S. K. Gupta. Dynamics-Aware Target Following for an Autonomous Surface Vehicle Operating under COLREGs in Civilian Traffic. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '13), Tokyo, Japan, November 3-7, I. B. Bertaska, J. Alvarez, A. J. Sinisterra, K. Ellenrieder, M. Dhanak, B. Shah, P. Švec, and S. K. Gupta. Experimental Evaluation of Approach Behavior for Autonomous Surface Vehicles. 6th Annual Dynamic Systems and Control Conference (DSCC '13), Stanford University, Palo Alto, CA, USA, October 21-23, S. Chowdhury, A. Thakur, P. Švec, C. Wang, W. Losert, and S. K. Gupta. Enhancing Range of Transport in Optical Tweezers Assisted Microfluidic Chambers using Automated Stage Motion, ASME International Conference on Micro- and Nanosystems, Portland, OR, USA, August 12-15, S. Chowdhury, A. Thakur, C. Wang, P. Švec, W. Losert, and S. K. Gupta. Automated Indirect Manipulation of Irregular Shaped Cells With Optical Tweezers for Studying Collective Cell Migration. IEEE International Conference on Robotics and Automation (ICRA '13), Karlsruhe, Germany, May 6-10, E. Raboin, P. Švec, D. Nau, and S. K. Gupta. Model-Predictive Target Defense by Team of Unmanned Surface Vehicles Operating in Uncertain Environments. IEEE International Conference on Robotics and Automation (ICRA '13), Karlsruhe, Germany, May 6-10, Dr. Petr Švec (05/22/2014) 4

5 9. P. Švec, A. Thakur, and S. K. Gupta. USV Trajectory Planning for Time Varying Motion Goal in an Environment with Obstacles. ASME Mechanisms and Robotics Conference, Chicago, USA, August 12-15, A. Thakur, S. Chowdhury, C. Wang, P. Švec, W. Losert, and S. K. Gupta. Automated Indirect Optical Micromanipulation Of Biological Cells Using Indirect Pushing To Minimize Photo- Damage. ASME International Conference on Micro- and Nanosystems, Chicago, USA, August 12-15, S. Chowdhury, A. Thakur, C. Wang, P. Švec, W. Losert, and S. K. Gupta. Automated Indirect Transport of Biological Cells Using Planar Gripper Formations. IEEE International Conference on Automation Science and Engineering (CASE 12), Seoul, Korea, August 20-24, M. M. Dabbeeru, J. D. Langsfeld, P. Švec, and S. K. Gupta. Towards Energy Efficient Follow Behaviors for Unmanned Ground Vehicles over Rugged Terrains. ASME Mechanisms and Robotics Conference, Chicago, USA, August 12-15, M. M. Dabbeeru, J. D. Langsfeld, P. Švec, and S. K. Gupta. Turn Around Behavior Generation and Execution for Unmanned Ground Vehicles Operating in Rough Terrain. 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR'12), Johns Hopkins University, USA, July 23-26, S. Chowdhury, P. Švec, C. Wang, W. Losert, and S. K. Gupta. Gripper Synthesis for Indirect Manipulation of Cells using Holographic Optical Tweezers. IEEE International Conference on Robotics and Automation (ICRA '12), St. Paul, Minnesota, USA, May 14-18, P. Švec, M. Schwartz, A. Thakur, and S. K. Gupta. Trajectory Planning with Look-Ahead for Unmanned Sea Surface Vehicles to Handle Environmental Disturbances. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), San Francisco, CA, USA, September 25-30, A. Thakur, P. Švec, and S. K. Gupta. Generation of State Transition Models Using Simulations for Unmanned Sea Surface Vehicle Trajectory Planning. ASME Mechanisms and Robotics Conference, Washington, D.C., USA, August 28-31, S. Chowdhury, P. Švec, C. Wang, K. Seale, J. P. Wikswo, W. Losert, and S. K. Gupta. Investigation of Automated Cell Manipulation in Optical Tweezers-Assisted Microfluidic Chamber Using Simulations, ASME International Conference on Micro- and Nanosystems, Washington D.C., USA, August 28-31, P. Švec, A. Thakur, D.K. Anand, S. K. Gupta, and M. Schwartz. A Simulation Based Framework for Discovering Planning Logic for Autonomous Unmanned Surface Vehicles, ASME Engineering Systems Design and Analysis Conference (ESDA 10), Istanbul, Turkey, July 12-14, E. Raboin, D. Nau, U. Kuter, S. K. Gupta, and P. Švec. Strategy Generation in Multi-Agent Imperfect-Information Pursuit Games. 9th International Conference on Autonomous Agents and Multiagent Systems (AAMAS '10), Toronto, Canada, May 10-14, P. Švec and S.K. Gupta. Competitive Co-evolution of High-Level Blocking Controllers for Unmanned Surface Vehicles. Exploring New Horizons in Evolutionary Design of Robots Workshop, International Conference on Intelligent Robots and Systems (IROS '09), St. Louis, USA, October 11-15, Dr. Petr Švec (05/22/2014) 5

6 21. M. Schwartz, P. Švec, A. Thakur, and S. K. Gupta. Evaluation of Automatically Generated Reactive Planning Logic for Unmanned Surface Vehicles. Performance Metrics for Intelligent Systems Workshop (PERMIS 09), Gaithersburg, MD, USA, September 21-23, P. Švec. A Construction of the 2D Generalized Voronoi Diagram, Part I: An Approximation Algorithm.Proceedings of the 12th International Conference on Soft Computing (MENDEL 06), Brno, Czech Republic, P. Švec. A Construction of the 2D Generalized Voronoi Diagram, Part II: Some Issues of Implementation. Proceedings of the 12th International Conference on Soft Computing (MENDEL 06), Brno, Czech Republic, P. Švec. Motion Planning of a Swarm of Robots Using Flocking Algorithm and Voronoi Diagram.Proceedings of the 39th Spring International Conference Modelling and Simulation of Systems (MOSIS '05), MARQ Ostrava, Hradec nad Moravicí, Czech Republic, P. Švec. Using the RUP for Small Web Information Systems. Proceedings of the Second International Conference on Soft Computing Applied in Computer and Economic Environments ICSC (ICSC 04), European Polytechnic Institute, Kunovice, Czech Republic, PEER-REVIEWED BOOK CHAPTERS 1. P. Švec and S.K. Gupta. Automated Planning Logic Synthesis for Autonomous Unmanned Vehicles in Competitive Environments with Deceptive Adversaries. New Horizons in Evolutionary Robotics: Extended Contributions from the 2009 EvoDeRob Workshop, Studies in Computational Intelligence, Springer, 2011, pp M. Schwartz, P. Švec, A. Thakur, and S.K. Gupta. Simulation Based Synthesis of Planning Logic for Autonomous Unmanned Sea Surface Vehicles. Simulation Driven Innovation and Discovery, Energetics Applications, CALCE EPSC Press, College Park, P. Švec. Real-Time Robot Motion Planning Based on the Generalised Voronoi Diagram. Simulation Modelling of Mechatronic Systems III, T. Březina, Ed.: Brno University of Technology, Faculty of Mechanical Engineering, 2008, pp MONOGRAPHS 1. P. Švec. Using Methods of Computational Geometry in Robotics. PhD Thesis Summary, Brno University of Technology, ISBN , HONORS AND AWARDS Co-principal investigator on the grant Experimental Evaluation of Automatically Generated Behaviors for Autonomous USV Operations: System Improvement and Behavior Generation, Office of Naval Research (ONR), (June 2012 March 2014), Awarded amount: $200,000. Substitute principal investigator for Prof. Satyandra K. Gupta on the grant CPS: Image Guided Autonomous Optical Manipulation of Cell Groups, National Science Foundation (NSF), (October 2009 August 2014, serve for the period September 2012 August 2014), Awarded amount: $550,000. Received one year Ph.D. fellowship to perform research at the Department of Computer Science, Faculty of Engineering, University of Bristol, UK (September 2005 September 2006) Dr. Petr Švec (05/22/2014) 6

7 PROFESSIONAL ACTIVITIES Substitute chair for Prof. Satyandra K. Gupta in the Probabilistic Exploration and Coverage session at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11) Journal article reviewer for IEEE Transactions on Robotics (2012, 2014), Autonomous Robots (2014), and Virtual Reality (2009) Conference article reviewer for IEEE International Conference on Robotics and Automation (ICRA 13), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 10, 12, 13, 14), ASME International Design Engineering Technical Conferences (IDETC 12) & Computers and Information in Engineering Conference (CIE), and Performance Metrics for Intelligent Systems (PerMIS 10) PROFESSIONAL SOCIETIES MEMBERSHIP Member, Institute of Electrical and Electronics Engineers (IEEE): Robotics and Automation Society Member, Sigma Xi: The Scientific Research Society REFERENCES 1. Satyandra K. Gupta Professor Department of Mechanical Engineering and the Institute for Systems Research University of Maryland, College Park, MD Office: 2147 AV Williams Building Phone: ; Fax: Dana S. Nau Professor Department of Computer Science University of Maryland, College Park, MD Office: 3241 AV Williams Building Phone: ; Fax: Karl von Ellenrieder Associate Professor Department of Ocean and Mechanical Engineering Florida Atlantic University, 101 N. Beach Rd., Dania Beach, FL Phone: ; Fax: Dr. Petr Švec (05/22/2014) 7