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

2026

Nissov, Morten; Alexis, Konstantinos; Leutenegger, Stefan. (2026) Perception in Degraded Environments: Sensor Fusion Through the Lens of FMCW Radar. Norges teknisk-naturvitenskapelige universitet
Doktoravhandling
Olsen, Jørgen Anker; Pettersen, Lars Ronhaug; Alexis, Konstantinos. (2026) Towards Quadrupedal Jumping and Walking for Dynamic Locomotion Using Reinforcement Learning. IEEE Robotics and Automation Letters
Vitenskapelig artikkel
Papadakis, Michail; Olsen, Jørgen Anker; Poulakakis, Ioannis; Alexis, Konstantinos. (2026) Modeling and In-flight Torso Attitude Stabilization of a Jumping Quadruped.
Vitenskapelig kapittel

2025

Olsen, Jørgen Anker; Malczyk, Grzegorz Dariusz; Alexis, Konstantinos. (2025) Olympus: A Jumping Quadruped for Planetary Exploration Utilizing Reinforcement Learning for In-Flight Attitude Control. IEEE International Conference on Robotics and Automation (ICRA)
Vitenskapelig artikkel
Kulkarni, Mihir Vinay; Dharmadhikari, Mihir Rahul; Khedekar, Nikhil Vijay; Nissov, Morten; Mohit Singh; Weiss, Philipp; Alexis, Konstantinos. (2025) UniPilot: Enabling GPS-Denied Autonomy Across Embodiments.
Vitenskapelig kapittel
Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2025) PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry. arXiv
Vitenskapelig artikkel
Hatleskog, Johan; Nissov, Morten; Alexis, Konstantinos. (2025) IMU-Preintegrated Radar Factors for Asynchronous Radar-LiDAR-Inertial SLAM. Proceedings of the 22nd International Conference on Advanced Robotics (ICAR 2025)
Vitenskapelig artikkel
Zacharia, Angelos; Dharmadhikari, Mihir Rahul; Alexis, Konstantinos. (2025) Collaborative Exploration With a Marsupial Ground-Aerial Robot Team Through Task-Driven Map Compression. IEEE Robotics and Automation Letters
Vitenskapelig artikkel
Jacquet, Martin; Harms, Marvin Chayton; Alexis, Konstantinos. (2025) Neural NMPC through signed distance field encoding for collision avoidance. The International Journal of Robotics Research
Vitenskapelig artikkel
Mohammed, Fatma Youssef Mohammed Abdelfa; Alexis, Konstantinos. (2025) Unified Attention Modeling for Efficient Free-Viewing and Visual Search via Shared Representations.
Vitenskapelig kapittel
Misyats, Nazar; Harms, Marvin Chayton; Nissov, Morten; Jacquet, Martin Pierre Francois; Alexis, Konstantinos. (2025) Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions. International Conference on Unmanned Aircraft Systems (ICUAS)
Vitenskapelig artikkel
Harms, Marvin Chayton; Jacquet, Martin Pierre Francois; Alexis, Konstantinos. (2025) Safe Quadrotor Navigation Using Composite Control Barrier Functions. IEEE International Conference on Robotics and Automation (ICRA)
Vitenskapelig artikkel
Kulkarni, Mihir Vinay; Alexis, Konstantinos; Scaramuzza, David. (2025) Vision-based Navigation for Aerial Robots: From Parallelized Simulation to Resilient Flight in Cluttered Environments. NTNU Norges teknisk-naturvitenskapelige universitet
Doktoravhandling
Malczyk, Grzegorz Dariusz; Kulkarni, Mihir Vinay; Alexis, Konstantinos. (2025) Semantically-Driven Deep Reinforcement Learning for Inspection Path Planning. IEEE Robotics and Automation Letters
Vitenskapelig artikkel
Dharmadhikari, Mihir Rahul; Alexis, Konstantinos. (2025) Semantics-aware Predictive Inspection Path Planning. IEEE Transactions on Field Robotics (T-FR)
Vitenskapelig artikkel
Kulkarni, Mihir Vinay; Rehberg, Welf Peter; Alexis, Konstantinos. (2025) Aerial Gym Simulator: A Framework for Highly Parallelized Simulation of Aerial Robots. IEEE Robotics and Automation Letters
Vitenskapelig artikkel

2024

El-Agroudi, Tarek; Maurer, Finn Gross; Olsen, Jørgen Anker; Alexis, Konstantinos. (2024) In-Flight Attitude Control of a Quadruped using Deep Reinforcement Learning.
Vitenskapelig kapittel
de Petris, Paolo; Nissov, Morten; Alexis, Konstantinos. (2024) Morphy: a Compliant and Morphologically-Aware Flying Robot. Advanced Intelligent Systems
Vitenskapelig artikkel
Hatleskog, Johan; Alexis, Konstantinos. (2024) Probabilistic Degeneracy Detection for Point-to-Plane Error Minimization. IEEE Robotics and Automation Letters
Vitenskapelig artikkel
Nissov, Morten Christian; Khattak, Shehryar; Edlund, Jeffrey A.; Padgett, Curtis; Alexis, Konstantinos; Spieler, Patrick. (2024) ROAMER: Robust Offroad Autonomy using Multimodal State Estimation with Radar Velocity Integration. IEEE Aerospace Conference. Proceedings
Vitenskapelig artikkel
Nissov, Morten Christian; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2024) Degradation Resilient LiDAR-Radar-Inertial Odometry. IEEE International Conference on Robotics and Automation (ICRA)
Vitenskapelig artikkel
Mohit Singh; Alexis, Konstantinos. (2024) DeepVL: Dynamics and Inertial Measurements-based Deep Velocity Learning for Underwater Odometry. IEEE International Conference on Robotics and Automation (ICRA)
Vitenskapelig artikkel
Westre, Andreas; Olsen, Jørgen Anker; Alexis, Konstantinos. (2024) Model Predictive Attitude Control of a Jumping-and-Flying Quadruped for Planetary Exploration. IEEE Aerospace Conference. Proceedings
Vitenskapelig artikkel
Xanthidis, Marios; Amundsen, Herman Biørn; Haugaløkken, Bent Oddvar Arnesen; Evjemo, Linn Danielsen; Alexis, Konstantinos; Kelasidi, Eleni. (2024) Addressing the Challenges of Underwater Motion Planning towards Enabling Autonomous Aquaculture Operations. IEEE International Conference on Robotics and Automation (ICRA)
Konferanseabstract
Nissov, Morten; Edlund, Jeffrey A.; Spieler, Patrick; Padgett, Curtis; Alexis, Konstantinos; Khattak, Shehryar. (2024) Robust High-Speed State Estimation for Off-road Navigation using Radar Velocity Factors. IEEE Robotics and Automation Letters
Vitenskapelig artikkel
Kulkarni, Mihir Vinay; Alexis, Konstantinos. (2024) Reinforcement Learning for Collision-free Flight Exploiting Deep Collision Encoding. IEEE International Conference on Robotics and Automation (ICRA)
Vitenskapelig artikkel
Jacquet, Martin Pierre Francois; Alexis, Konstantinos. (2024) N-MPC for Deep Neural Network-Based Collision Avoidance exploiting Depth Images. IEEE International Conference on Robotics and Automation (ICRA)
Vitenskapelig artikkel
Harms, Marvin Chayton; Kulkarni, Mihir Vinay; Khedekar, Nikhil Vijay; Jacquet, Martin Pierre Francois; Alexis, Konstantinos. (2024) Neural Control Barrier Functions for Safe Navigation. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Vitenskapelig artikkel
Xanthidis, Marios; Skaldebø, Martin Breivik; Haugaløkken, Bent Oddvar Arnesen; Evjemo, Linn Danielsen; Alexis, Konstantinos; Kelasidi, Eleni. (2024) ResiVis: A Holistic Underwater Motion Planning Approach for Robust Active Perception Under Uncertainties. IEEE Robotics and Automation Letters
Vitenskapelig artikkel
Mohit Singh; Alexis, Konstantinos. (2024) Online Refractive Camera Model Calibration in Visual Inertial Odometry. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Vitenskapelig artikkel
Mohit Singh; Dharmadhikari, Mihir Rahul; Alexis, Konstantinos. (2024) An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry. IEEE International Conference on Robotics and Automation (ICRA)
Vitenskapelig artikkel
Petracek, Pavel; Alexis, Konstantinos; Saska, Martin. (2024) RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation. IEEE Robotics and Automation Letters
Vitenskapelig artikkel
de Petris, Paolo; Nissov, Morten Christian; Harms, Marvin Chayton; Alexis, Konstantinos. (2024) Design, Modeling, Control and Experimental Evaluation of Flexy: a Novel Compliant Quadrotor. International Conference on Unmanned Aircraft Systems (ICUAS)
Vitenskapelig artikkel

2023

Kulkarni, Mihir; Alexis, Konstantinos. (2023) Task-driven Compression for Collision Encoding based on Depth Images. Lecture Notes in Computer Science (LNCS)
Vitenskapelig artikkel
Dharmadhikari, Mihir; de Petris, Paolo; Kulkarni, Mihir; Khedekar, Nikhil Vijay; Nguyen, Dinh Huan; Stene, Arnt Erik; Sjøvold, Eivind; Solheim, Kristian; Gussiaas, Bente; Alexis, Konstantinos. (2023) Autonomous Exploration and General Visual Inspection of Ship Ballast Water Tanks using Aerial Robots.
Vitenskapelig kapittel
Olsen, Jørgen Anker; Alexis, Konstantinos. (2023) Martian Lava Tube Exploration Using Jumping Legged Robots: A Concept Study.
Vitenskapelig kapittel
Ebadi, Kamak; Bernreiter, Lukas; Biggie, Harel; Catt, Gavin; Chang, Yun; Chatterjee, Arghya; Denniston, Christopher; Deschênes, Simon-Pierre; Harlow, Kyle; Khattak, Shehryar. (2023) Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge. IEEE Transactions on Robotics
Vitenskapelig artikkel
Dharmadhikari, Mihir; de Petris, Paolo; Nguyen, Dinh Huan; Kulkarni, Mihir; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2023) Manhole Detection and Traversal for Exploration of Ballast Water Tanks using Micro Aerial Vehicles. International Conference on Unmanned Aircraft Systems (ICUAS)
Vitenskapelig artikkel
Kulkarni, Mihir; Nguyen, Dinh Huan; Alexis, Konstantinos. (2023) Semantically-enhanced Deep Collision Prediction for Autonomous Navigation using Aerial Robots. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Vitenskapelig artikkel
Dharmadhikari, Mihir Rahul; Alexis, Konstantinos. (2023) Semantics-aware Exploration and Inspection Path Planning.
Vitenskapelig kapittel
Xanthidis, Marios; Kelasidi, Eleni; Alexis, Konstantinos. (2023) ResiFarm - Resilient Robotic Autonomy for Underwater Operations in Fish Farms. Aquaculture Europe
Konferanseabstract
Xanthidis, Marios; Kelasidi, Eleni; Alexis, Konstantinos. (2023) ResiPlan: Closing the Planning-Acting Loop for Safe Underwater Navigation.
Vitenskapelig kapittel
Nguyen, Dinh Huan; Andersen, Rasmus; Boukas, Evangelos; Alexis, Konstantinos. (2023) Uncertainty-aware visually-attentive navigation using deep neural networks. The International Journal of Robotics Research
Vitenskapelig artikkel
Olsen, Jørgen Anker; Alexis, Konstantinos. (2023) Design and Experimental Verification of a Jumping Legged Robot for Martian Lava Tube Exploration.
Vitenskapelig kapittel
Vangen, Aleksander Blekken; Barnwal, Tejal; Olsen, Jørgen Anker; Alexis, Konstantinos. (2023) Terrain Recognition and Contact Force Estimation through a Sensorized Paw for Legged Robots.
Vitenskapelig kapittel

2022

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.
Vitenskapelig 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
Vitenskapelig artikkel
Kulkarni, Mihir; Moon, Brady; Alexis, Konstantinos; Scherer, Sebastian. (2022) Aerial Field Robotics.
Faglig kapittel
Nguyen, Dinh Huan; Fyhn, Sondre Holm; de Petris, Paolo; Alexis, Konstantinos. (2022) Motion Primitives-based Navigation Planning using Deep Collision Prediction.
Vitenskapelig kapittel
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.
Vitenskapelig kapittel
Tranzatto, Marco; Mascarich, Frank; Bernreiter, Lukas; Godinho, Carolina; Camurri, Marco; Khattak, Shehryar; Dang, Tung; Reijgwart, Victor; Loeje, Johannes; Wisth, David. (2022) CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. Field Robotics
Vitenskapelig artikkel
Tranzatto, Marco; Miki, Takahiro; Dharmadhikari, Mihir; Bernreiter, Lukas; Kulkarni, Mihir; Mascarich, Frank; Andersson, Olov; Khattak, Shehryar; Hutter, Marco; Siegwart, Roland. (2022) CERBERUS in the DARPA Subterranean Challenge. Science robotics
Vitenskapelig artikkel
Kulkarni, Mihir; Dharmadhikari, Mihir; Tranzatto, Marco; Zimmermann, Samuel; Reijgwart, Victor; de Petris, Paolo; Nguyen, Dinh Huan; Khedekar, Nikhil Vijay; Papachristos, Christos; Ott, Lionel. (2022) Autonomous teamed exploration of subterranean environments using legged and aerial robots.
Vitenskapelig kapittel
de Petris, Paolo; Dharmadhikari, Mihir; Nguyen, Dinh Huan; Alexis, Konstantinos. (2022) Risk-aware Motion Planning for Collision-tolerant Aerial Robots subject to Localization Uncertainty.
Vitenskapelig kapittel
Khedekar, Nikhil; Kulkarni, Mihir; Alexis, Konstantinos. (2022) MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation.
Vitenskapelig kapittel

2021

Mathur, Pranay; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2021) Resource-aware Online Parameter Adaptation for Computationally-constrained Visual-Inertial Navigation Systems.
Vitenskapelig kapittel
Nguyen, Dinh Huan; Alexis, Kostas. (2021) Forceful Aerial Manipulation Based on an Aerial Robotic Chain: Hybrid Modeling and Control. IEEE Robotics and Automation Letters
Vitenskapelig artikkel
Dharmadhikari, Mihir; Nguyen, Dinh Huan; Mascarich, Frank; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2021) Autonomous Cave Exploration using Aerial Robots.
Vitenskapelig kapittel
Gasteratos, Antonios; Bampis, Loukas; Galambos, Peter; Alexis, Konstantinos; Aloimonos, Yiannis. (2021) Guest Editorial: Deep Learning and Robotics. Electronics Letters
Leder
Duan, Ran; Fu, Changhong; Alexis, Konstantinos; Kayacan, Erdal. (2021) Online Recommendation-based Convolutional Features for Scale-Aware Visual Tracking.
Vitenskapelig kapittel
Mascarich, Frank; de Petris, Paolo; Nguyen, Dinh Huan; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2021) Autonomous Distributed 3D Radiation Field Estimation for Nuclear Environment Characterization.
Vitenskapelig kapittel
Nguyen, Dinh Huan; Siegwart, Roland; Alexis, Konstantinos; Kamel, Mina. (2021) Model Predictive Control for Micro Aerial Vehicles: A Survey.
Vitenskapelig kapittel
Dharmadhikari, Mihir; Deshpande, Harshal; Dang, Tung; Alexis, Konstantinos. (2021) Hypergame-based Adaptive Behavior Path Planning for Combined Exploration and Visual Search.
Vitenskapelig kapittel
de Petris, Paolo; Nguyen, Dinh Huan; Kulkarni, Mihir; Mascarich, Frank; Alexis, Konstantinos. (2021) Resilient Collision-tolerant Navigation in Confined Environments.
Vitenskapelig kapittel

Tidsskriftspublikasjoner

Olsen, Jørgen Anker; Pettersen, Lars Ronhaug; Alexis, Konstantinos. (2026) Towards Quadrupedal Jumping and Walking for Dynamic Locomotion Using Reinforcement Learning. IEEE Robotics and Automation Letters
Vitenskapelig artikkel
Olsen, Jørgen Anker; Malczyk, Grzegorz Dariusz; Alexis, Konstantinos. (2025) Olympus: A Jumping Quadruped for Planetary Exploration Utilizing Reinforcement Learning for In-Flight Attitude Control. IEEE International Conference on Robotics and Automation (ICRA)
Vitenskapelig artikkel
Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2025) PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry. arXiv
Vitenskapelig artikkel
Hatleskog, Johan; Nissov, Morten; Alexis, Konstantinos. (2025) IMU-Preintegrated Radar Factors for Asynchronous Radar-LiDAR-Inertial SLAM. Proceedings of the 22nd International Conference on Advanced Robotics (ICAR 2025)
Vitenskapelig artikkel
Zacharia, Angelos; Dharmadhikari, Mihir Rahul; Alexis, Konstantinos. (2025) Collaborative Exploration With a Marsupial Ground-Aerial Robot Team Through Task-Driven Map Compression. IEEE Robotics and Automation Letters
Vitenskapelig artikkel
Jacquet, Martin; Harms, Marvin Chayton; Alexis, Konstantinos. (2025) Neural NMPC through signed distance field encoding for collision avoidance. The International Journal of Robotics Research
Vitenskapelig artikkel
Misyats, Nazar; Harms, Marvin Chayton; Nissov, Morten; Jacquet, Martin Pierre Francois; Alexis, Konstantinos. (2025) Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions. International Conference on Unmanned Aircraft Systems (ICUAS)
Vitenskapelig artikkel
Harms, Marvin Chayton; Jacquet, Martin Pierre Francois; Alexis, Konstantinos. (2025) Safe Quadrotor Navigation Using Composite Control Barrier Functions. IEEE International Conference on Robotics and Automation (ICRA)
Vitenskapelig artikkel
de Petris, Paolo; Nissov, Morten; Alexis, Konstantinos. (2024) Morphy: a Compliant and Morphologically-Aware Flying Robot. Advanced Intelligent Systems
Vitenskapelig artikkel
Kulkarni, Mihir; Alexis, Konstantinos. (2023) Task-driven Compression for Collision Encoding based on Depth Images. Lecture Notes in Computer Science (LNCS)
Vitenskapelig artikkel
Hatleskog, Johan; Alexis, Konstantinos. (2024) Probabilistic Degeneracy Detection for Point-to-Plane Error Minimization. IEEE Robotics and Automation Letters
Vitenskapelig artikkel
Nissov, Morten Christian; Khattak, Shehryar; Edlund, Jeffrey A.; Padgett, Curtis; Alexis, Konstantinos; Spieler, Patrick. (2024) ROAMER: Robust Offroad Autonomy using Multimodal State Estimation with Radar Velocity Integration. IEEE Aerospace Conference. Proceedings
Vitenskapelig artikkel
Nissov, Morten Christian; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2024) Degradation Resilient LiDAR-Radar-Inertial Odometry. IEEE International Conference on Robotics and Automation (ICRA)
Vitenskapelig artikkel
Ebadi, Kamak; Bernreiter, Lukas; Biggie, Harel; Catt, Gavin; Chang, Yun; Chatterjee, Arghya; Denniston, Christopher; Deschênes, Simon-Pierre; Harlow, Kyle; Khattak, Shehryar. (2023) Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge. IEEE Transactions on Robotics
Vitenskapelig artikkel
Mohit Singh; Alexis, Konstantinos. (2024) DeepVL: Dynamics and Inertial Measurements-based Deep Velocity Learning for Underwater Odometry. IEEE International Conference on Robotics and Automation (ICRA)
Vitenskapelig artikkel
Westre, Andreas; Olsen, Jørgen Anker; Alexis, Konstantinos. (2024) Model Predictive Attitude Control of a Jumping-and-Flying Quadruped for Planetary Exploration. IEEE Aerospace Conference. Proceedings
Vitenskapelig artikkel
Nguyen, Dinh Huan; Alexis, Kostas. (2021) Forceful Aerial Manipulation Based on an Aerial Robotic Chain: Hybrid Modeling and Control. IEEE Robotics and Automation Letters
Vitenskapelig artikkel
Dharmadhikari, Mihir; de Petris, Paolo; Nguyen, Dinh Huan; Kulkarni, Mihir; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2023) Manhole Detection and Traversal for Exploration of Ballast Water Tanks using Micro Aerial Vehicles. International Conference on Unmanned Aircraft Systems (ICUAS)
Vitenskapelig artikkel
Kulkarni, Mihir; Nguyen, Dinh Huan; Alexis, Konstantinos. (2023) Semantically-enhanced Deep Collision Prediction for Autonomous Navigation using Aerial Robots. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Vitenskapelig artikkel
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
Vitenskapelig artikkel
Xanthidis, Marios; Amundsen, Herman Biørn; Haugaløkken, Bent Oddvar Arnesen; Evjemo, Linn Danielsen; Alexis, Konstantinos; Kelasidi, Eleni. (2024) Addressing the Challenges of Underwater Motion Planning towards Enabling Autonomous Aquaculture Operations. IEEE International Conference on Robotics and Automation (ICRA)
Konferanseabstract
Malczyk, Grzegorz Dariusz; Kulkarni, Mihir Vinay; Alexis, Konstantinos. (2025) Semantically-Driven Deep Reinforcement Learning for Inspection Path Planning. IEEE Robotics and Automation Letters
Vitenskapelig artikkel
Dharmadhikari, Mihir Rahul; Alexis, Konstantinos. (2025) Semantics-aware Predictive Inspection Path Planning. IEEE Transactions on Field Robotics (T-FR)
Vitenskapelig artikkel
Nissov, Morten; Edlund, Jeffrey A.; Spieler, Patrick; Padgett, Curtis; Alexis, Konstantinos; Khattak, Shehryar. (2024) Robust High-Speed State Estimation for Off-road Navigation using Radar Velocity Factors. IEEE Robotics and Automation Letters
Vitenskapelig artikkel
Kulkarni, Mihir Vinay; Alexis, Konstantinos. (2024) Reinforcement Learning for Collision-free Flight Exploiting Deep Collision Encoding. IEEE International Conference on Robotics and Automation (ICRA)
Vitenskapelig artikkel
Jacquet, Martin Pierre Francois; Alexis, Konstantinos. (2024) N-MPC for Deep Neural Network-Based Collision Avoidance exploiting Depth Images. IEEE International Conference on Robotics and Automation (ICRA)
Vitenskapelig artikkel
Harms, Marvin Chayton; Kulkarni, Mihir Vinay; Khedekar, Nikhil Vijay; Jacquet, Martin Pierre Francois; Alexis, Konstantinos. (2024) Neural Control Barrier Functions for Safe Navigation. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Vitenskapelig artikkel
Xanthidis, Marios; Skaldebø, Martin Breivik; Haugaløkken, Bent Oddvar Arnesen; Evjemo, Linn Danielsen; Alexis, Konstantinos; Kelasidi, Eleni. (2024) ResiVis: A Holistic Underwater Motion Planning Approach for Robust Active Perception Under Uncertainties. IEEE Robotics and Automation Letters
Vitenskapelig artikkel
Xanthidis, Marios; Kelasidi, Eleni; Alexis, Konstantinos. (2023) ResiFarm - Resilient Robotic Autonomy for Underwater Operations in Fish Farms. Aquaculture Europe
Konferanseabstract
Kulkarni, Mihir Vinay; Rehberg, Welf Peter; Alexis, Konstantinos. (2025) Aerial Gym Simulator: A Framework for Highly Parallelized Simulation of Aerial Robots. IEEE Robotics and Automation Letters
Vitenskapelig artikkel
Tranzatto, Marco; Mascarich, Frank; Bernreiter, Lukas; Godinho, Carolina; Camurri, Marco; Khattak, Shehryar; Dang, Tung; Reijgwart, Victor; Loeje, Johannes; Wisth, David. (2022) CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. Field Robotics
Vitenskapelig artikkel
Gasteratos, Antonios; Bampis, Loukas; Galambos, Peter; Alexis, Konstantinos; Aloimonos, Yiannis. (2021) Guest Editorial: Deep Learning and Robotics. Electronics Letters
Leder
Tranzatto, Marco; Miki, Takahiro; Dharmadhikari, Mihir; Bernreiter, Lukas; Kulkarni, Mihir; Mascarich, Frank; Andersson, Olov; Khattak, Shehryar; Hutter, Marco; Siegwart, Roland. (2022) CERBERUS in the DARPA Subterranean Challenge. Science robotics
Vitenskapelig artikkel
Mohit Singh; Alexis, Konstantinos. (2024) Online Refractive Camera Model Calibration in Visual Inertial Odometry. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Vitenskapelig artikkel
Mohit Singh; Dharmadhikari, Mihir Rahul; Alexis, Konstantinos. (2024) An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry. IEEE International Conference on Robotics and Automation (ICRA)
Vitenskapelig artikkel
Petracek, Pavel; Alexis, Konstantinos; Saska, Martin. (2024) RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation. IEEE Robotics and Automation Letters
Vitenskapelig artikkel
Nguyen, Dinh Huan; Andersen, Rasmus; Boukas, Evangelos; Alexis, Konstantinos. (2023) Uncertainty-aware visually-attentive navigation using deep neural networks. The International Journal of Robotics Research
Vitenskapelig artikkel
de Petris, Paolo; Nissov, Morten Christian; Harms, Marvin Chayton; Alexis, Konstantinos. (2024) Design, Modeling, Control and Experimental Evaluation of Flexy: a Novel Compliant Quadrotor. International Conference on Unmanned Aircraft Systems (ICUAS)
Vitenskapelig artikkel

Del av bok/rapport

Kulkarni, Mihir Vinay; Dharmadhikari, Mihir Rahul; Khedekar, Nikhil Vijay; Nissov, Morten; Mohit Singh; Weiss, Philipp; Alexis, Konstantinos. (2025) UniPilot: Enabling GPS-Denied Autonomy Across Embodiments.
Vitenskapelig kapittel
Mohammed, Fatma Youssef Mohammed Abdelfa; Alexis, Konstantinos. (2025) Unified Attention Modeling for Efficient Free-Viewing and Visual Search via Shared Representations.
Vitenskapelig kapittel
El-Agroudi, Tarek; Maurer, Finn Gross; Olsen, Jørgen Anker; Alexis, Konstantinos. (2024) In-Flight Attitude Control of a Quadruped using Deep Reinforcement Learning.
Vitenskapelig kapittel
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.
Vitenskapelig kapittel
Dharmadhikari, Mihir; de Petris, Paolo; Kulkarni, Mihir; Khedekar, Nikhil Vijay; Nguyen, Dinh Huan; Stene, Arnt Erik; Sjøvold, Eivind; Solheim, Kristian; Gussiaas, Bente; Alexis, Konstantinos. (2023) Autonomous Exploration and General Visual Inspection of Ship Ballast Water Tanks using Aerial Robots.
Vitenskapelig kapittel
Olsen, Jørgen Anker; Alexis, Konstantinos. (2023) Martian Lava Tube Exploration Using Jumping Legged Robots: A Concept Study.
Vitenskapelig kapittel
Mathur, Pranay; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2021) Resource-aware Online Parameter Adaptation for Computationally-constrained Visual-Inertial Navigation Systems.
Vitenskapelig kapittel
Kulkarni, Mihir; Moon, Brady; Alexis, Konstantinos; Scherer, Sebastian. (2022) Aerial Field Robotics.
Faglig kapittel
Nguyen, Dinh Huan; Fyhn, Sondre Holm; de Petris, Paolo; Alexis, Konstantinos. (2022) Motion Primitives-based Navigation Planning using Deep Collision Prediction.
Vitenskapelig kapittel
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.
Vitenskapelig kapittel
Dharmadhikari, Mihir Rahul; Alexis, Konstantinos. (2023) Semantics-aware Exploration and Inspection Path Planning.
Vitenskapelig kapittel
Dharmadhikari, Mihir; Nguyen, Dinh Huan; Mascarich, Frank; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2021) Autonomous Cave Exploration using Aerial Robots.
Vitenskapelig kapittel
Papadakis, Michail; Olsen, Jørgen Anker; Poulakakis, Ioannis; Alexis, Konstantinos. (2026) Modeling and In-flight Torso Attitude Stabilization of a Jumping Quadruped.
Vitenskapelig kapittel
Duan, Ran; Fu, Changhong; Alexis, Konstantinos; Kayacan, Erdal. (2021) Online Recommendation-based Convolutional Features for Scale-Aware Visual Tracking.
Vitenskapelig kapittel
Mascarich, Frank; de Petris, Paolo; Nguyen, Dinh Huan; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2021) Autonomous Distributed 3D Radiation Field Estimation for Nuclear Environment Characterization.
Vitenskapelig kapittel
Xanthidis, Marios; Kelasidi, Eleni; Alexis, Konstantinos. (2023) ResiPlan: Closing the Planning-Acting Loop for Safe Underwater Navigation.
Vitenskapelig kapittel
Nguyen, Dinh Huan; Siegwart, Roland; Alexis, Konstantinos; Kamel, Mina. (2021) Model Predictive Control for Micro Aerial Vehicles: A Survey.
Vitenskapelig kapittel
Dharmadhikari, Mihir; Deshpande, Harshal; Dang, Tung; Alexis, Konstantinos. (2021) Hypergame-based Adaptive Behavior Path Planning for Combined Exploration and Visual Search.
Vitenskapelig kapittel
de Petris, Paolo; Nguyen, Dinh Huan; Kulkarni, Mihir; Mascarich, Frank; Alexis, Konstantinos. (2021) Resilient Collision-tolerant Navigation in Confined Environments.
Vitenskapelig kapittel
Kulkarni, Mihir; Dharmadhikari, Mihir; Tranzatto, Marco; Zimmermann, Samuel; Reijgwart, Victor; de Petris, Paolo; Nguyen, Dinh Huan; Khedekar, Nikhil Vijay; Papachristos, Christos; Ott, Lionel. (2022) Autonomous teamed exploration of subterranean environments using legged and aerial robots.
Vitenskapelig kapittel
de Petris, Paolo; Dharmadhikari, Mihir; Nguyen, Dinh Huan; Alexis, Konstantinos. (2022) Risk-aware Motion Planning for Collision-tolerant Aerial Robots subject to Localization Uncertainty.
Vitenskapelig kapittel
Khedekar, Nikhil; Kulkarni, Mihir; Alexis, Konstantinos. (2022) MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation.
Vitenskapelig kapittel
Olsen, Jørgen Anker; Alexis, Konstantinos. (2023) Design and Experimental Verification of a Jumping Legged Robot for Martian Lava Tube Exploration.
Vitenskapelig kapittel
Vangen, Aleksander Blekken; Barnwal, Tejal; Olsen, Jørgen Anker; Alexis, Konstantinos. (2023) Terrain Recognition and Contact Force Estimation through a Sensorized Paw for Legged Robots.
Vitenskapelig kapittel

Studentoppgave eller avhandling

Nissov, Morten; Alexis, Konstantinos; Leutenegger, Stefan. (2026) Perception in Degraded Environments: Sensor Fusion Through the Lens of FMCW Radar. Norges teknisk-naturvitenskapelige universitet
Doktoravhandling
Kulkarni, Mihir Vinay; Alexis, Konstantinos; Scaramuzza, David. (2025) Vision-based Navigation for Aerial Robots: From Parallelized Simulation to Resilient Flight in Cluttered Environments. NTNU Norges teknisk-naturvitenskapelige universitet
Doktoravhandling

Formidling