Tomasz Piotr Kucner

Tomasz Kucner


I am a Postdoctoral researcher at MR&O Lab of AASS since December 2018. Before that, I completed a PhD thesis in Computer Science, also at MR&O Lab of AASS.

Research Interests

My main research interests are Autonomous Mobile Robots, in particular:

  • Introspection
  • Map quality assessment
  • Dynamic mapping (People flow mapping, Wind mapping)
  • 3D Perception
  • Mapping and Localization

Brief CV

I was born in 1988. I have spent my childhood in Lubin (Dolny Śląsk, Poland). After finishing the local high school, I have moved to Wroclaw where I studied at the Wroclaw University of Technology. I have received there a B.Sc. in Computer Management Systems in Manufacturing (2011) and M.Sc. in Robotics (2012). During my studies, I was a member of the Student Scientific Association of Robotics KoNaR. I have also taken part in the Erasmus Programme. It gave me an opportunity to spent a year (from September 2011 to June 2012) in Denmark where I was studying at the Syddansk Universitet. Since September 2012 I am a member of the Centre of Applied Autonomous Sensor Systems (AASS) at Örebro University.

Research Projects


Teacher assistant:

  • Programmering grundkurs (November 2014 – January 2015, November 2015 – January 2016)
  • Probabilistic Robotics (February 2015 – May 2015, February 2016 – May 2016)
  • Imperative Programmering (November 2016 – January 2017, November 2017 – January 2018)


  • Probabilistic Robotics (January 2019 – March 2019)

Supervised master students:

  •  WeiWei Feng (2017) – Combining metrics for quantifying the quality of localization (with Martin Magnusson).

Supervised PhD students:

Community involvement



Organised Workshops

Introspective Methods for Reliable Autonomy (IROS 2017)

Other Involvement

Vice-chair of WG: IEEE P2751 (Robot 3D Map Data Representation)





IROS 2017 Workshop: Introspective Methods for Reliable Autonomy


Me on the web

Causes I support


Dr. Tomasz Kucner

AASS Research Centre
School of Science and Technology
Örebro University
70182 Örebro, Sweden
Room T1105
Phone +46 (0)19 30 14 82


Journal Articles

[1] A. Rudenko, T. P. Kucner, C. S. Swaminathan, R. T. Chadalavada, K. O. Arras and A. J. Lilienthal. THÖR : Human-Robot Navigation Data Collection and Accurate Motion Trajectories Dataset. IEEE Robotics and Automation Letters, 5(2):676-682, 2020BibTeX | DiVA  ]
[2] V. Hernandez Bennetts, K. Kamarudin, T. Wiedemann, T. P. Kucner, S. L. Somisetty and A. J. Lilienthal. Multi-Domain Airflow Modeling and Ventilation Characterization Using Mobile Robots, Stationary Sensors and Machine Learning. Sensors, 19(5), 2019BibTeX | DiVA  | PDF ]
[3] H. Fan, T. P. Kucner, M. Magnusson, T. Li and A. Lilienthal. A Dual PHD Filter for Effective Occupancy Filtering in a Highly Dynamic Environment. IEEE transactions on intelligent transportation systems (Print), 19(9):2977-2993, 2018BibTeX | DiVA  ]
[4] H. Almqvist, M. Magnusson, T. P. Kucner and A. Lilienthal. Learning to detect misaligned point clouds. Journal of Field Robotics, 35(5):662-677, 2018BibTeX | DiVA  ]
[5] T. P. Kucner, M. Magnusson, E. Schaffernicht, V. M. Hernandez Bennetts and A. Lilienthal. Enabling Flow Awareness for Mobile Robots in Partially Observable Environments. IEEE Robotics and Automation Letters, 2(2):1093-1100, 2017BibTeX | DiVA  ]
[6] V. Hernandez Bennetts, T. P. Kucner, E. Schaffernicht, P. P. Neumann, H. Fan and A. J. Lilienthal. Probabilistic Air Flow Modelling Using Turbulent and Laminar Characteristics for Ground and Aerial Robots. IEEE Robotics and Automation Letters, 2(2):1117-1123, 2017BibTeX | DiVA  ]

Refereed Conference and Workshop Articles

[1] T. Vintr, S. Molina, R. Senanayake, G. Broughton, Z. Yan, J. Ulrich, T. P. Kucner, C. S. Swaminathan, F. Majer, M. Stachova, A. J. Lilienthal and T. Krajnik. Time-varying Pedestrian Flow Models for Service Robots. In 2019 European Conference on Mobile Robots (ECMR) 2019BibTeX | DiVA  | PDF ]
[2] H. Fan, D. Lu, T. P. Kucner, M. Magnusson and A. Lilienthal. 2D Spatial Keystone Transform for Sub-Pixel Motion Extraction from Noisy Occupancy Grid Map. In Proceedings of 21st International Conference on Information Fusion (FUSION), pages 2400-2406, 2018BibTeX | DiVA  | PDF ]
[3] C. S. Swaminathan, T. P. Kucner, M. Magnusson, L. Palmieri and A. Lilienthal. Down the CLiFF : Flow-Aware Trajectory Planning under Motion Pattern Uncertainty. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 7403-7409, 2018BibTeX | DiVA  | PDF ]
[4] L. Palmieri, T. Kucner, M. Magnusson, A. Lilienthal and K. Arras. Kinodynamic Motion Planning on Gaussian Mixture Fields. In IEEE International Conference on Robotics and Automation (ICRA 2017) 2017BibTeX | DiVA  ]
[5] M. Magnusson, T. P. Kucner, S. Gholami Shahbandi, H. Andreasson and A. Lilienthal. Semi-Supervised 3D Place Categorisation by Descriptor Clustering. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 620-625, 2017BibTeX | DiVA  | PDF ]
[6] R. Triebel, K. Arras, R. Alami, L. Beyer, S. Breuers, R. Chatila, M. Chetouani, D. Cremers, V. Evers, M. Fiore, H. Hung, O. A. I. Ramirez, M. Joosse, H. Khambhaita, T. Kucner, B. Leibe, A. J. Lilienthal, T. Linder, M. Lohse, M. Magnusson, B. Okal, L. Palmieri, U. Rafi, M. van Rooij and L. Zhang. SPENCER : A Socially Aware Service Robot for Passenger Guidance and Help in Busy Airports. In Field and Service Robotics : Results of the 10th International Conference, pages 607-622, 2016BibTeX | DiVA  ]
[7] T. Kucner, M. Magnusson, E. Schaffernicht, V. Hernandez Bennetts and A. Lilienthal. Tell me about dynamics! : Mapping velocity fields from sparse samples with Semi-Wrapped Gaussian Mixture Models. In Robotics : Science and Systems Conference (RSS 2016) 2016BibTeX | DiVA  | PDF ]
[8] V. Hernandez Bennetts, E. Schaffernicht, A. J. Lilienthal, H. Fan, T. P. Kucner, L. Andersson and A. Johansson. Towards occupational health improvement in foundries through dense dust and pollution monitoring using a complementary approach with mobile and stationary sensing nodes. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 131-136, 2016BibTeX | DiVA  ]
[9] M. Magnusson, T. Kucner and A. J. Lilienthal. Quantitative Evaluation of Coarse-To-Fine Loading Strategies for Material Rehandling. In Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE), pages 450-455, 2015BibTeX | DiVA  ]
[10] T. P. Kucner, M. Magnusson and A. J. Lilienthal. Where am I? : An NDT-based prior for MCL. In 2015 European Conference on Mobile Robots (ECMR) 2015BibTeX | DiVA  ]
[11] T. Kucner, J. Sarinen, M. Magnusson and A. J. Lilienthal. Conditional transition maps: learning motion patterns in dynamic environments. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1196-1201, 2013BibTeX | DiVA  | PDF ]


[1] T. P. Kucner. Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots. Örebro University, School of Science and Technology, Ph.D. Thesis, 2018BibTeX | DiVA  | PDF ]

Find the complete BibTeX record here.