Konstantinos Alexis

Om

Prof. Dr. Kostas Alexis conducts research in the domain of resilient robotic autonomy. Through his studies he has examined the potential of autonomous systems to navigate extreme environments by presenting resourcefulness, robustness and redundancy. His research areas include the domains of robot control, path planning, robot learning, and Simultaneous Localization And Mapping, while across these disciplines a holistic approach is taken to facilitate enhanced resilient as demonstrated through field robotics. He has been the PI in major international grants such as the DARPA Subterranean Challenge and his funding portfolio includes grants from US sources (e.g., DARPA, NSF, DOE, USDA), EU (e.g., Horizon programs), as well as the Research Council of Norway.

Forskning

Autonomous Robots Lab

Publikasjoner

2022

De Petris, Paolo; Dharmadhikari, Mihir; Nguyen, Dinh Huan; Alexis, Konstantinos. (2022) Risk-aware Motion Planning for Collision-tolerant Aerial Robots subject to Localization Uncertainty. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
De Petris, Paolo; Khattak, Shehryar; Dharmadhikari, Mihir; Waibel, Gabriel; Nguyen, Dinh Huan; Montenegro, Markus; Khedekar, Nikhil Vijay; Alexis, Konstantinos; Hutter, Marco. (2022) Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments. 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
De Petris, Paolo; Nguyen, Dinh Huan; Dharmadhikari, Mihir; Kulkarni, Mihir; Khedekar, Nikhil Vijay; Mascarich, Frank; Alexis, Konstantinos. (2022) RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration. 2022 International Conference on Unmanned Aircraft Systems (ICUAS).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Khedekar, Nikhil; Kulkarni, Mihir; Alexis, Konstantinos. (2022) MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Kulkarni, Mihir; Dharmadhikari, Mihir; Tranzatto, Marco; Zimmermann, Samuel; Reijgwart, Victor; De Petris, Paolo; Nguyen, Dinh Huan; Khedekar, Nikhil Vijay; Papachristos, Christos; Ott, Lionel; Siegwart, Roland; Hutter, Marco; Alexis, Konstantinos. (2022) Autonomous teamed exploration of subterranean environments using legged and aerial robots. 2022 IEEE International Conference on Robotics and Automation (ICRA).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Kulkarni, Mihir; Moon, Brady; Alexis, Konstantinos; Scherer, Sebastian. (2022) Aerial Field Robotics. Encyclopedia of Robotics.
Faglig kapittel
Mascarich, Frank; Kulkarni, Mihir; De Petris, Paolo; Wilson, Taylor; Alexis, Konstantinos. (2022) Autonomous mapping and spectroscopic analysis of distributed radiation fields using aerial robots. Autonomous Robots. volum 47.
Vitenskapelig artikkel
Nguyen, Dinh Huan; Fyhn, Sondre Holm; De Petris, Paolo; Alexis, Konstantinos. (2022) Motion Primitives-based Navigation Planning using Deep Collision Prediction. 2022 IEEE International Conference on Robotics and Automation (ICRA).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Tranzatto, Marco; Miki, Takahiro; Dharmadhikari, Mihir; Bernreiter, Lukas; Kulkarni, Mihir; Mascarich, Frank; Andersson, Olov; Khattak, Shehryar; Hutter, Marco; Siegwart, Roland; Alexis, Konstantinos. (2022) CERBERUS in the DARPA Subterranean Challenge. Science robotics. volum 7 (66).
Vitenskapelig artikkel

2021

Mathur, Pranay; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2021) Resource-aware Online Parameter Adaptation for Computationally-constrained Visual-Inertial Navigation Systems. 20th International Conference on Advanced Robotics (ICAR).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Alexis, Konstantinos; Dharmadhikari, Mihir; Dang, Tung. (2021) Graph-based Exploration Planner 2.0. Open-Source. 2021.
Programvare
Alexis, Konstantinos; Flemmen, Henrik Dobbe; Kulkarni, Mihir. (2021) ROVTIO: RObust Visual Thermal Inertial Odometry. Open-Source. 2021.
Programvare
De Petris, Paolo; Nguyen, Dinh Huan; Kulkarni, Mihir; Mascarich, Frank; Alexis, Konstantinos. (2021) Resilient Collision-tolerant Navigation in Confined Environments. 2021 IEEE International Conference on Robotics and Automation (ICRA).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Dharmadhikari, Mihir; Deshpande, Harshal; Dang, Tung; Alexis, Konstantinos. (2021) Hypergame-based Adaptive Behavior Path Planning for Combined Exploration and Visual Search. 2021 IEEE International Conference on Robotics and Automation (ICRA).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Dharmadhikari, Mihir; Nguyen, Dinh Huan; Mascarich, Frank; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2021) Autonomous Cave Exploration using Aerial Robots. 2021 International Conference on Unmanned Aircraft Systems (ICUAS).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Duan, Ran; Fu, Changhong; Alexis, Konstantinos; Kayacan, Erdal. (2021) Online Recommendation-based Convolutional Features for Scale-Aware Visual Tracking. 2021 IEEE International Conference on Robotics and Automation (ICRA).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Gasteratos, Antonios; Bampis, Loukas; Galambos, Peter; Alexis, Konstantinos; Aloimonos, Yiannis. (2021) Guest Editorial: Deep Learning and Robotics. Electronics Letters. volum 57 (16).
Leder
Mascarich, Frank; De Petris, Paolo; Nguyen, Dinh Huan; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2021) Autonomous Distributed 3D Radiation Field Estimation for Nuclear Environment Characterization. 2021 IEEE International Conference on Robotics and Automation (ICRA).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Nguyen, Dinh Huan; Alexis, Kostas. (2021) Forceful Aerial Manipulation Based on an Aerial Robotic Chain: Hybrid Modeling and Control. IEEE Robotics and Automation Letters. volum 6 (2).
Vitenskapelig artikkel
Nguyen, Dinh Huan; Siegwart, Roland; Alexis, Konstantinos; Kamel, Mina. (2021) Model Predictive Control for Micro Aerial Vehicles: A Survey. 2021 European Control Conference, ECC 2021.
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Tranzatto, Marco; Mascarich, Frank; Bernreiter, Lukas; Godinho, Carolina; Camurri, Marco; Khattak, Shehryar; Dang, Tung; Reijgwart, Victor; Loeje, Johannes; Wisth, David; Zimmermann, Samuel; Nguyen, Dinh Huan; Fehr, Marius; Solanka, Lukas; Buchanan, Russell; Bjelonic, Marko; Khedekar, Nikhil Vijay; Valceschini, Mathieu; Jenelten, Fabian; Dharmadhikari, Mihir; Homberger, Timon; De Petris, Paolo; Wellhausen, Lorenz; Kulkarni, Mihir; Miki, Takahiro; Hirsch, Satchel; Montenegro, Markus; Papachristos, Christos; Tresoldi, Fabian; Carius, Jan; Valsecchi, Giorgio; Lee, Joonho; Meyer, Konrad; Wu, Xiangyu; Nieto, Juan; Smith, Andy; Hutter, Marco; Siegwart, Roland; Mueller, Mark; Fallon, Maurice; Alexis, Konstantinos. (2021) CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. Field Robotics.
Vitenskapelig artikkel

Tidsskriftspublikasjoner

Mascarich, Frank; Kulkarni, Mihir; De Petris, Paolo; Wilson, Taylor; Alexis, Konstantinos. (2022) Autonomous mapping and spectroscopic analysis of distributed radiation fields using aerial robots. Autonomous Robots. volum 47.
Vitenskapelig artikkel
Tranzatto, Marco; Miki, Takahiro; Dharmadhikari, Mihir; Bernreiter, Lukas; Kulkarni, Mihir; Mascarich, Frank; Andersson, Olov; Khattak, Shehryar; Hutter, Marco; Siegwart, Roland; Alexis, Konstantinos. (2022) CERBERUS in the DARPA Subterranean Challenge. Science robotics. volum 7 (66).
Vitenskapelig artikkel
Gasteratos, Antonios; Bampis, Loukas; Galambos, Peter; Alexis, Konstantinos; Aloimonos, Yiannis. (2021) Guest Editorial: Deep Learning and Robotics. Electronics Letters. volum 57 (16).
Leder
Nguyen, Dinh Huan; Alexis, Kostas. (2021) Forceful Aerial Manipulation Based on an Aerial Robotic Chain: Hybrid Modeling and Control. IEEE Robotics and Automation Letters. volum 6 (2).
Vitenskapelig artikkel
Tranzatto, Marco; Mascarich, Frank; Bernreiter, Lukas; Godinho, Carolina; Camurri, Marco; Khattak, Shehryar; Dang, Tung; Reijgwart, Victor; Loeje, Johannes; Wisth, David; Zimmermann, Samuel; Nguyen, Dinh Huan; Fehr, Marius; Solanka, Lukas; Buchanan, Russell; Bjelonic, Marko; Khedekar, Nikhil Vijay; Valceschini, Mathieu; Jenelten, Fabian; Dharmadhikari, Mihir; Homberger, Timon; De Petris, Paolo; Wellhausen, Lorenz; Kulkarni, Mihir; Miki, Takahiro; Hirsch, Satchel; Montenegro, Markus; Papachristos, Christos; Tresoldi, Fabian; Carius, Jan; Valsecchi, Giorgio; Lee, Joonho; Meyer, Konrad; Wu, Xiangyu; Nieto, Juan; Smith, Andy; Hutter, Marco; Siegwart, Roland; Mueller, Mark; Fallon, Maurice; Alexis, Konstantinos. (2021) CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. Field Robotics.
Vitenskapelig artikkel

Del av bok/rapport

De Petris, Paolo; Dharmadhikari, Mihir; Nguyen, Dinh Huan; Alexis, Konstantinos. (2022) Risk-aware Motion Planning for Collision-tolerant Aerial Robots subject to Localization Uncertainty. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
De Petris, Paolo; Khattak, Shehryar; Dharmadhikari, Mihir; Waibel, Gabriel; Nguyen, Dinh Huan; Montenegro, Markus; Khedekar, Nikhil Vijay; Alexis, Konstantinos; Hutter, Marco. (2022) Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments. 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
De Petris, Paolo; Nguyen, Dinh Huan; Dharmadhikari, Mihir; Kulkarni, Mihir; Khedekar, Nikhil Vijay; Mascarich, Frank; Alexis, Konstantinos. (2022) RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration. 2022 International Conference on Unmanned Aircraft Systems (ICUAS).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Khedekar, Nikhil; Kulkarni, Mihir; Alexis, Konstantinos. (2022) MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Kulkarni, Mihir; Dharmadhikari, Mihir; Tranzatto, Marco; Zimmermann, Samuel; Reijgwart, Victor; De Petris, Paolo; Nguyen, Dinh Huan; Khedekar, Nikhil Vijay; Papachristos, Christos; Ott, Lionel; Siegwart, Roland; Hutter, Marco; Alexis, Konstantinos. (2022) Autonomous teamed exploration of subterranean environments using legged and aerial robots. 2022 IEEE International Conference on Robotics and Automation (ICRA).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Kulkarni, Mihir; Moon, Brady; Alexis, Konstantinos; Scherer, Sebastian. (2022) Aerial Field Robotics. Encyclopedia of Robotics.
Faglig kapittel
Nguyen, Dinh Huan; Fyhn, Sondre Holm; De Petris, Paolo; Alexis, Konstantinos. (2022) Motion Primitives-based Navigation Planning using Deep Collision Prediction. 2022 IEEE International Conference on Robotics and Automation (ICRA).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Mathur, Pranay; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2021) Resource-aware Online Parameter Adaptation for Computationally-constrained Visual-Inertial Navigation Systems. 20th International Conference on Advanced Robotics (ICAR).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
De Petris, Paolo; Nguyen, Dinh Huan; Kulkarni, Mihir; Mascarich, Frank; Alexis, Konstantinos. (2021) Resilient Collision-tolerant Navigation in Confined Environments. 2021 IEEE International Conference on Robotics and Automation (ICRA).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Dharmadhikari, Mihir; Deshpande, Harshal; Dang, Tung; Alexis, Konstantinos. (2021) Hypergame-based Adaptive Behavior Path Planning for Combined Exploration and Visual Search. 2021 IEEE International Conference on Robotics and Automation (ICRA).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Dharmadhikari, Mihir; Nguyen, Dinh Huan; Mascarich, Frank; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2021) Autonomous Cave Exploration using Aerial Robots. 2021 International Conference on Unmanned Aircraft Systems (ICUAS).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Duan, Ran; Fu, Changhong; Alexis, Konstantinos; Kayacan, Erdal. (2021) Online Recommendation-based Convolutional Features for Scale-Aware Visual Tracking. 2021 IEEE International Conference on Robotics and Automation (ICRA).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Mascarich, Frank; De Petris, Paolo; Nguyen, Dinh Huan; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2021) Autonomous Distributed 3D Radiation Field Estimation for Nuclear Environment Characterization. 2021 IEEE International Conference on Robotics and Automation (ICRA).
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
Nguyen, Dinh Huan; Siegwart, Roland; Alexis, Konstantinos; Kamel, Mina. (2021) Model Predictive Control for Micro Aerial Vehicles: A Survey. 2021 European Control Conference, ECC 2021.
Vitenskapelig Kapittel/Artikkel/Konferanseartikkel

PRODUKT

Alexis, Konstantinos; Dharmadhikari, Mihir; Dang, Tung. (2021) Graph-based Exploration Planner 2.0. Open-Source. 2021.
Programvare
Alexis, Konstantinos; Flemmen, Henrik Dobbe; Kulkarni, Mihir. (2021) ROVTIO: RObust Visual Thermal Inertial Odometry. Open-Source. 2021.
Programvare

Undervisning

Emner

Formidling

2021

Faglig foredrag

Alexis, Konstantinos. (2021) Keynote: Field-hardened Resilient Robotic Autonomy Presentation. ROBOVIS: International conference on Robotics, Computer Vision and Intelligent Systems . ROBOVIS Editors: Péter Galambos and Erdal Kayacan; Valleta, Malta (converted to online du to the Coronavirus pandemic). 2021-10-27 - 2021-10-28.
Faglig foredrag

Alexis, Konstantinos. (2021) Team CERBERUS in the DARPA Subterranean Challenge: Our strategy, robots, capabilities, and limitations. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems - Workshop on "Integrated Perception, Learning, and Control for Agile Super Vehicles" ; 2021-09-27 - 2021-10-01.
Faglig foredrag

Alexis, Konstantinos. (2021) Team CERBERUS wins the DARPA Subterranean Challenge: Our strategy, robots, capabilities, and limitations. AMOS Day . NTNU AMOS; Trondheim. 2021-09-20 - 2021-09-20.

Språkvelger

Konstantinos Alexis