226 citations · 863 across the 35 of their papers we have counts for
35 papers
How Sampling Strategy Affects Imbalance Mitigation in LiDAR Segmentation: A Study of Structured vs. Random Point-Based Architectures
Antonis Savva, Christos Kyrkou, Theocharis Theocharides
Class imbalance in LiDAR point clouds poses challenges for semantic segmentation in autonomous navigation and urban mapping. While 2D vision has numerous mitigation techniques, the…
Loss Landscape Topology Reveals Why Simple Baselines are Competitive at 3D Point Cloud Segmentation Under Class Imbalance
Antonis Savva, Christos Kyrkou, Theocharis Theocharides
Semantic segmentation of 3D point clouds faces severe class imbalance, yet the effectiveness of specialized imbalance-aware methods from 2D computer vision remains unclear in 3D co…
Exact, Efficient, and Reliable Multi-Objective and Multi-Constrained IoT Workflow Scheduling in Edge-Hub-Cloud Cyber-Physical Systems
Andreas Kouloumpris, Georgios L. Stavrinides, Maria K. Michael +1
Emerging IoT-enabled cyber-physical applications demand low-latency, energy-efficient, and reliable execution across resource-constrained edge devices with heterogeneous multicore…
A reliability- and latency-driven task allocation framework for workflow applications in the edge-hub-cloud continuum
Andreas Kouloumpris, Georgios L. Stavrinides, Maria K. Michael +1
A growing number of critical workflow applications leverage a streamlined edge-hub-cloud architecture, which diverges from the conventional edge computing paradigm. An edge device,…
An optimization framework for task allocation in the edge/hub/cloud paradigm
Andreas Kouloumpris, Georgios L. Stavrinides, Maria K. Michael +1
With the advent of the Internet of Things (IoT), novel critical applications have emerged that leverage the edge/hub/cloud paradigm, which diverges from the conventional edge compu…
Optimal Multi-Constrained Workflow Scheduling for Cyber-Physical Systems in the Edge-Cloud Continuum
Andreas Kouloumpris, Georgios L. Stavrinides, Maria K. Michael +1
The emerging edge-hub-cloud paradigm has enabled the development of innovative latency-critical cyber-physical applications in the edge-cloud continuum. However, this paradigm pose…
Jointly-optimized Trajectory Generation and Camera Control for 3D Coverage Planning
Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides +2
This work proposes a jointly optimized trajectory generation and camera control approach, enabling an autonomous agent, such as an unmanned aerial vehicle (UAV) operating in 3D env…
Rolling Horizon Coverage Control with Collaborative Autonomous Agents
Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides +2
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite ho…
Efficient Global Neural Architecture Search
Shahid Siddiqui, Christos Kyrkou, Theocharis Theocharides
Neural architecture search (NAS) has shown promise towards automating neural network design for a given task, but it is computationally demanding due to training costs associated w…
Cooperative Receding Horizon 3D Coverage Control with a Team of Networked Aerial Agents
Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides +2
This work proposes a receding horizon coverage control approach which allows multiple autonomous aerial agents to work cooperatively in order cover the total surface area of a 3D o…
Convolutional Channel-wise Competitive Learning for the Forward-Forward Algorithm
Andreas Papachristodoulou, Christos Kyrkou, Stelios Timotheou +1
The Forward-Forward (FF) Algorithm has been recently proposed to alleviate the issues of backpropagation (BP) commonly used to train deep neural networks. However, its current form…
Joint Estimation and Control for Multi-Target Passive Monitoring with an Autonomous UAV Agent
Savvas Papaioannou, Christos Laoudias, Panayiotis Kolios +2
This work considers the problem of passively monitoring multiple moving targets with a single unmanned aerial vehicle (UAV) agent equipped with a direction-finding radar. This is i…
Unscented Optimal Control for 3D Coverage Planning with an Autonomous UAV Agent
Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides +2
We propose a novel probabilistically robust controller for the guidance of an unmanned aerial vehicle (UAV) in coverage planning missions, which can simultaneously optimize both th…
Integrated Guidance and Gimbal Control for Coverage Planning With Visibility Constraints
Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides +2
Coverage path planning with unmanned aerial vehicles (UAVs) is a core task for many services and applications including search and rescue, precision agriculture, infrastructure ins…
UAV-based Receding Horizon Control for 3D Inspection Planning
Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides +2
Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of tasks, including infrastructure inspection, automated monitoring and coverage. This paper investigates…
Integrated Ray-Tracing and Coverage Planning Control using Reinforcement Learning
Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides +2
In this work we propose a coverage planning control approach which allows a mobile agent, equipped with a controllable sensor (i.e., a camera) with limited sensing domain (i.e., fi…
Distributed Search Planning in 3-D Environments With a Dynamically Varying Number of Agents
Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides +2
In this work, a novel distributed search-planning framework is proposed, where a dynamically varying team of autonomous agents cooperate in order to search multiple objects of inte…
Towards Automated 3D Search Planning for Emergency Response Missions
Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides +2
The ability to efficiently plan and execute automated and precise search missions using unmanned aerial vehicles (UAVs) during emergency response situations is imperative. Precise…
3D Trajectory Planning for UAV-based Search Missions: An Integrated Assessment and Search Planning Approach
Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides +2
The ability to efficiently plan and execute search missions in challenging and complex environments during natural and man-made disasters is imperative. In many emergency situation…
A Cooperative Multi-Agent Probabilistic Framework for Search and Track Missions
Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides +2
In this work a robust and scalable cooperative multi-agent searching and tracking framework is proposed. Specifically, we study the problem of cooperative searching and tracking of…
Jointly-Optimized Searching and Tracking with Random Finite Sets
Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides +2
In this paper, we investigate the problem of joint searching and tracking of multiple mobile targets by a group of mobile agents. The targets appear and disappear at random times i…
Probabilistic Search and Track with Multiple Mobile Agents
Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides +2
In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specific…
Decentralized Search and Track with Multiple Autonomous Agents
Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides +2
In this paper we study the problem of cooperative searching and tracking (SAT) of multiple moving targets with a group of autonomous mobile agents that exhibit limited sensing capa…
Towards a Fully Autonomous UAV Controller for Moving Platform Detection and Landing
Michalis Piponidis, Panayiotis Aristodemou, Theocharis Theocharides
While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deployi…