12 citations · 21 across the 8 of their papers we have counts for
6 papers · 1 filter
Safe Human-to-Humanoid Motion Imitation Using Control Barrier Functions
Wenqi Cai, John Abanes, Nikolaos Evangeliou +1
Ensuring operational safety is critical for human-to-humanoid motion imitation. This paper presents a vision-based framework that enables a humanoid robot to imitate human movement…
SLAM-based Safe Indoor Exploration Strategy
Omar Mostafa, Nikolaos Evangeliou, Anthony Tzes
This paper suggests a 2D exploration strategy for a planar space cluttered with obstacles. Rather than using point robots capable of adjusting their position and altitude instantly…
RCM-Constrained Manipulator Trajectory Tracking Using Differential Kinematics Control
Omar Rayyan, Vinicius Gonçalves, Nikolaos Evangeliou +1
This paper proposes an approach for controlling surgical robotic systems, while complying with the Remote Center of Motion (RCM) constraint in Robot-Assisted Minimally Invasive Sur…
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…
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…
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…