4 citations · 8 across the 8 of their papers we have counts for
9 papers
Harmonic Field-based Provable Exploration of 3D Indoor Environments
Raksi Kopo, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
This work presents an safe and efficient methodology for autonomous indoor exploration with aerial robots using Harmonic Potential Fields (HPF). The challenge of applying HPF in co…
A Distributed Predictive Control Approach for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems
Shahab Heshmati-Alamdari, George C. Karras, Kostas J. Kyriakopoulos
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstac…
Decentralized Impedance Control for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems under Lean Communication
Shahab Heshmati-alamdari, Charalampos P. Bechlioulis, George C. Karras +1
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace with static obstacles,…
A Robust Model Predictive Control Approach for Autonomous Underwater Vehicles Operating in a Constrained workspace
Shahab Heshmati-alamdari, George C. Karras, Panos Marantos +1
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The pu…
On the Selection of Calculable Residual Generators for UAV Fault Diagnosis
Georgios Zogopoulos-Papaliakos, Kostas J. Kyriakopoulos
Structural Analysis is an established method for Fault Detection and Identification (FDI) in large-scale systems, enabling the discovery of Analytical Redundancy Relations (ARRs) w…
Decentralized 2-D Control of Vehicular Platoons under Limited Visual Feedback
Christos K. Verginis, Charalampos P. Bechlioulis, Dimos V. Dimarogonas +1
In this paper, we consider the two dimensional (2-D) predecessor-following control problem for a platoon of unicycle vehicles moving on a planar surface. More specifically, we desi…
Robust Distributed Control Protocols for Large Vehicular Platoons with Prescribed Transient and Steady State Performance
Christos K. Verginis, Charalampos P. Bechlioulis, Dimos V. Dimarogonas +1
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional contro…
A Robust Force Control Approach for Underwater Vehicle Manipulator Systems
Shahab Heshmati-alamdari, Alexandros Nikou, Kostas J. Kyriakopoulos +1
In various interaction tasks using Underwater Vehicle Manipulator Systems (UVMSs) (e.g. sampling of the sea organisms, underwater welding), important factors such as: i) uncertaint…
Mechanical Design, Modelling and Control of a Novel Aerial Manipulator
Alexandros Nikou, Georgios C. Gavridis, Kostas J. Kyriakopoulos
In this paper a novel aerial manipulation system is proposed. The mechanical structure of the system, the number of thrusters and their geometry will be derived from technical opti…