52 citations · 156 across the 18 of their papers we have counts for
18 papers
Receding-Horizon Nullspace Optimization for Actuation-Aware Control Allocation in Omnidirectional UAVs
Riccardo Pretto, Mahmoud Hamandi, Abdullah Mohamed Ali +3
Fully actuated omnidirectional UAVs enable independent control of forces and torques along all six degrees of freedom, broadening the operational envelope for agile flight and aeri…
Path Planning and Task Assignment for Data Retrieval from Wireless Sensor Nodes Relying on Game-Theoretic Learning
Sotiris Papatheodorou, Michalis Smyrnakis, Tembine Hamidou +1
The energy-efficient trip allocation of mobile robots employing differential drives for data retrieval from stationary sensor locations is the scope of this article. Given a team o…
Cooperative Visual Convex Area Coverage using a Tessellation-free Strategy
Sotiris Papatheodorou, Anthony Tzes
The objective in this article is to develop a control strategy for coverage purposes of a convex region by a fleet of Mobile Aerial Agents (MAAs). Each MAA is equipped with a downw…
Safe Aerial Manipulator Maneuvering and Force Exertion via Control Barrier Functions
Dimitris Chaikalis, Vinicius Goncalves, Nikolaos Evangeliou +2
This article introduces a safe control strategy for application of forces to an external object using a dexterous robotic arm mounted on an unmanned Aerial Vehicle (UAV). A hybrid…
Using Circulation to Mitigate Spurious Equilibria in Control Barrier Function -- Extended Version
Vinicius Mariano Goncalves, Prashanth Krishnamurthy, Anthony Tzes +1
Control Barrier Functions and Quadratic Programming are increasingly used for designing controllers that consider critical safety constraints. However, like Artificial Potential Fi…
Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions
Bolun Dai, Rooholla Khorrambakht, Prashanth Krishnamurthy +3
Control barrier functions (CBFs) have been widely applied to safety-critical robotic applications. However, the construction of control barrier functions for robotic systems remain…
ROIFormer: Semantic-Aware Region of Interest Transformer for Efficient Self-Supervised Monocular Depth Estimation
Daitao Xing, Jinglin Shen, Chiuman Ho +1
The exploration of mutual-benefit cross-domains has shown great potential toward accurate self-supervised depth estimation. In this work, we revisit feature fusion between depth an…
1st Workshop on Maritime Computer Vision (MaCVi) 2023: Challenge Results
Benjamin Kiefer, Matej Kristan, Janez Perš +70
The 1 Workshop on Maritime Computer Vision (MaCVi) 2023 focused on maritime computer vision for Unmanned Aerial Vehicles (UAV) and Unmanned Surface Vehicle (USV), and…
Modular Multi-Copter Structure Control for Cooperative Aerial Cargo Transportation
Dimitris Chaikalis, Nikolaos Evangeliou, Anthony Tzes +1
The control problem of a multi-copter swarm, mechanically coupled through a modular lattice structure of connecting rods, is considered in this article. The system's structural ela…
3D Adapted Random Forest Vision (3DARFV) for Untangling Heterogeneous-Fabric Exceeding Deep Learning Semantic Segmentation Efficiency at the Utmost Accuracy
Omar Alfarisi, Zeyar Aung, Qingfeng Huang +6
Planetary exploration depends heavily on 3D image data to characterize the static and dynamic properties of the rock and environment. Analyzing 3D images requires many computations…
Siamese Transformer Pyramid Networks for Real-Time UAV Tracking
Daitao Xing, Nikolaos Evangeliou, Athanasios Tsoukalas +1
Recent object tracking methods depend upon deep networks or convoluted architectures. Most of those trackers can hardly meet real-time processing requirements on mobile platforms w…
3DMotion-Net: Learning Continuous Flow Function for 3D Motion Prediction
Shuaihang Yuan, Xiang Li, Anthony Tzes +1
In this paper, we deal with the problem to predict the future 3D motions of 3D object scans from previous two consecutive frames. Previous methods mostly focus on sparse motion pre…
Relative Visual Localization for Unmanned Aerial Systems
Steffen Holter, Athanasios Tsoukalas, Nikolaos Evangeliou +2
Cooperative Unmanned Aerial Systems (UASs) in GPS-denied environments demand an accurate pose-localization system to ensure efficient operation. In this paper we present a novel vi…
Distributed surveillance by a swarm of UAVs operating under positional uncertainty
Nikolaos Bousias, Sotiris Papatheodorou, Mariliza Tzes +1
This article proposes a collaborative control framework for an autonomous aerial swarm tasked with the surveillance of a convex region of interest. Each Mobile Aerial Agent (MAA) i…
Distributed Infrastructure Inspection Path Planning subject to Time Constraints
Kostas Alexis, Christos Papachristos, Roland Siegwart +1
Within this paper, the problem of 3D structural inspection path planning for distributed infrastructure using aerial robots that are subject to time constraints is addressed. The p…
Distributed area coverage control with imprecise robot localization: Simulation and experimental studies
Sotiris Papatheodorou, Anthony Tzes, Konstantinos Giannousakis +1
This article examines the area coverage problem for a network of mobile robots with imprecise agents' localization. Each robot has uniform radial sensing ability, governed by first…
Collaborative Visual Area Coverage
Sotiris Papatheodorou, Anthony Tzes, Yiannis Stergiopoulos
This article examines the problem of visual area coverage by a network of Mobile Aerial Agents (MAAs). Each MAA is assumed to be equipped with a downwards facing camera with a coni…
Collaborative Visual Area Coverage using Unmanned Aerial Vehicles
Sotiris Papatheodorou, Anthony Tzes, Yiannis Stergiopoulos
This article addresses the visual area coverage problem using a team of Unmanned Aerial Vehicles (UAVs). The UAVs are assumed to be equipped with a downward facing camera covering…