Konstantinos Alexis

About

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, 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 sucha s the DARPA Subterranean Challenge and his funding portfolio includes grants from US sources (e.g., DARPA, NSF, DOE, USDA), EU (e.g., Horizon 2020 programs), as well as the Norwegian Research Council.

Journals

K. Alexis, G. Nikolakopoulos, A. Tzes, “Autonomous Quadrotor Position and Attitude PID/PIDD Control in GPS-denied Environments”, in The International Review of Automatic Control, May 2011, Vol. 4, N.3, Praise Worthy Prize
K. Alexis, G. Nikolakopoulos, A. Tzes, “Switching Model Predictive Attitude Control for a Quadrotor Helicopter subject to Atmospheric Disturbances”, in the Control Engineering Practice Journal, Elsevier, DOI (10.1016/j.conengprac.2011.06.010) (almost constantly being ranked in the 25 Hottest Articles in Journal of Control Engineering Practice from December 2012 to May 2014))
K. Alexis, G. Nikolakopoulos, A. Tzes “Model Predictive Quadrotor Control: Attitude, Altitude and Position Experimental Studies”, IET Control Theory and Applications, DOI (10.1049/iet-cta.2011.0348), awarded with the IET 2014 Premium Award for Best Paper in Control Theory & Applications.
K. Alexis, G. Nikolakopoulos, A. Tzes, “On Trajectory Tracking Model Predictive Control of an Unmanned Quadrotor Helicopter subject to aerodynamic disturbances”, Asian Journal of Control, Wiley, DOI: 10.1002/asjc.587
G. Nikolakopoulos, K. Alexis, “Switching Networked Attitude Control of an Unmanned Quadrotor”, International Journal of Control, Automation and Systems, Springer-Verlag, DOI: 10.1007/s12555-011-0132-4, ISSN: 1598-6446
K. Alexis, G. Nikolakopoulos, A. Tzes “Experimental Constrained Attitude Control of a Quadrotor subject to Wind Disturbances”, International Journal of Control, Automation and Systems, December 2014, Volume 12, Issue 6, pp 1289-1302 ( ISSN: 0020-7179, DOI: 10.1007/s12555-013-0290-7)
K. Alexis, C. Huerzeler, R. Siegwart, “Hybrid Modeling and Control of a Coaxial Unmanned Rotorcraft Physically Interacting with its Environment through Contact”, Control Engineering Practice, Vol. 32, November 2014, Pages 96-112 (DOI: 10.1016/j.conengprac.2014.07.006)
K. Alexis, C. Papachristos, R. Siegwart, A. Tzes, "Robust Model Predictive Flight Control of Unmanned Rotorcrafts", Journal of Intelligent and Robotic Systems, Springer (DOI: 10.1007/s10846-015-0238-7)
C. Papachristos, K. Alexis, A. Tzes, “Dual-Authority Control of an Unmanned Tri-TiltRotor employing Model Predictive Control", Journal of Intelligent and Robotic Systems, Springer (DOI: 10.1007/s10846-015-0231-1)
K. Alexis, G. Darivianakis, M. Burri, and R. Siegwart, "Aerial robotic contact-based inspection: planning and control", Autonomous Robots, Springer US, DOI: 10.1007/s10514-015-9485-5, ISSN: 0929-5593, http://dx.doi.org/10.1007/s10514-015-9485-5
H. Balta, J. Bedkowski, S. Govindaraj, K. Majek, P. Musialik, D. Serrano, K. Alexis, R. Siegwart, G. de Cubber, “Integrated Data Management for a Fleet of Search-and-Rescue Robots”, Journal of Field Robotics, DOI: 10.1002/rob.21651, ISSN: 1556-4967, 2016, http://dx.doi.org/10.1002/rob.21651
A. Bircher, K. Alexis, U. Schwesinger, S. Omari, M. Burri and R. Siegwart "An Incremental Sampling–based approach to Inspection Planning: the Rapidly–exploring Random Tree Of Trees", Robotica, Cambridge Press, DOI: 10.1017/S0263574716000084 [link]
A. Bircher, M. Kamel, K. Alexis, M. Burri, P. Oettershagen, S. Omari, T. Mantel, R. Siegwart, "Three-dimensional Coverage Path Planning via Viewpoint Resampling and Tour Optimization for Aerial Robots", Autonomous Robots, Springer US, DOI: 10.1007/s10514-015-9517-1, ISSN: 1573-7527
Andreas Bircher, Mina Kamel, Kostas Alexis, Helen Oleynikova, Roland Siegwart, "Receding Horizon Path Planning for 3D Exploration and Surface Inspection", Autonomous Robots, Springer US, 2016, DOI:10.1007/s10514-016-9610-0
P. Oettershagen, A. Melzer, T. Mantel, K. Rudin, T. Stastny, B. Wawrzacz, T. Hinzmann, S. Leutenegger, K. Alexis, and R. Siegwart, "Design of small hand-launched solar-powered UAVs: From concept study to a multi-day world endurance record flight", Journal of Field Robotics
C. Papachristos, T. Dang, S. Khattak, F. Mascarich, N. Khedekar, and K. Alexis, "Modeling, Control, State Estimation and Path Planning Methods for Autonomous Multirotor Aerial Robots", Foundations and Trends® in Robotics: Vol. 7: No. 3, pp 180-250, 2018
C. Papachristos, F. Mascarich, S. Khattak, T. Dang, K. Alexis, "Localization Uncertainty-aware Autonomous Exploration and Mapping with Aerial Robots using Receding Horizon Path-planning", Autonomous Robots, Springer, US, December, 2019, Volume 43, Issue 8, pp 2131–2161, https://doi.org/10.1007/s10514-019-09864-1
S. Khattak, C. Papachristos, K. Alexis, "Keyframe-based Thermal-Inertial Odometry", Journal of Field Robotics, 2019, 1–28, https://doi.org/10.1002/rob.21932
T. Dang, M. Tranzatto, S. Khattak, F. Mascarich, K. Alexis, M. Hutter, "Graph-based Subterranean Exploration Path Planning using Aerial and Legged Robots", Journal of Field Robotics, November, 2020, https://doi.org/10.1002/rob.21993, Videos: https://youtu.be/SNMsKAnCQkw , https://youtu.be/W9lgdmDg6UM. Open-Source Git Repo: https://github.com/unr-arl/gbplanner_ros

Conferences

K. Alexis and A. Tzes, “Application of a Quadtree-based Market-Allocation algorithm for Cellular Environment Coverage with Cooperative Robots”, In Proceedings of the 16th Mediterranean Conference on Control and Automation, p.938-945, June 25-27, 2008, Ajaccio, Corsica, France
A. Tzes, K. Andrianesis, K. Alexis, “Design and Simulation of electronic controlled Ilizarov Platforms”, ASAMI – Greece, Patras 17-19 September, 2009
K. Alexis, G. Nikolakopoulos, A. Tzes, “Design and Experimental Verification of a Constrained Finite Time Optimal Control Scheme for the Attitude Control of a Quadrotor Helicopter Subject to Wind Gusts”, IEEE International Conference on Robotics and Automation, p.1636-1641, May 3-8, 2010 Anchorage, Alaska.
K. Alexis, G. Nikolakopoulos, A. Tzes, “Constrained Optimal Attitude Control of a Quadrotor Helicopter subject to Wind-Gusts: Experimental Studies”, IEEE American Control Conference, p.4451-4455, June 30-July 2, 2010, Baltimore Marriot Waterfront.
K. Alexis, G. Nikolakopoulos, A. Tzes, “Constrained-Control of a Quadrotor Helicopter for Trajectory Tracking under Wind-Gust Disturbances”, 15th IEEE Mediterranean Electromechanical Conference, Valletta, Malta, p.1411-1416, 26-28 April 2010
K. Alexis, G. Nikolakopoulos, A. Tzes, “Model Predictive Attitude Control of an Unmanned Quadrotor Helicopter subject to atmospheric disturbances”, IEEE International Symposium on Industrial Electronics, Bari, Italy, 4-7 July, 2010
G. Nikolakopoulos, N. Roussos, K. Alexis, “A Constrained Finite Time Optimal Controller for the Diving and Steering Problem of an Autonomous Underwater Vehicle”, 7th International Conference on Informatics in Control, Automation and Robotics, 2010
K. Alexis, G. Nikolakopoulos, A. Tzes, “Experimental Model Predictive Control of a Quadrotor Helicopter subject to Wind-Gusts”, 18th IEEE Mediterranean Conference on Control and Automation, p.1461-1466, June 23-25, 2010, Congress Palace, Marrakesh, Morocco
G. Nikolakopoulos, K. Alexis, A. Tzes, “A Collaborative Unmanned Helicopter Control Strategy for Image Compression and Wireless Transmission” 18th IEEE Mediterranean Conference on Control and Automation, p.1206-1211, June 23-25, 2010, Congress Palace, Marrakesh, Morocco
K. Alexis, G. Nikolakopoulos, A. Tzes, “Model Predictive Control for a Miniature Coaxial Helicopter”, 7th IFAC Symposium on Intelligent Autonomous Vehicles, p.139-144, September 6-8, Lecce, Italy (DOI: 10.3182/20100906-3-IT-2019.00026)
K. Alexis, G. Nikolakopoulos, A. Tzes, “Experimental Application of a Model Predictive Controller to an Unmanned Quadrotor Helicopter”, 2nd Hellenic Robotic Conference, 9-10 December, 2010, Patras, Greece
C. Papachristos, K. Alexis, G. Nikolakopoulos, A. Tzes, “Modeling and Control of an Unmanned Tilt-Rotor flying in Helicopter Mode”, 2nd Hellenic Robotics Conference, 9-10 December, 2010,Patras, Greece
K. Alexis, G. Nikolakopoulos, A. Tzes, “Switching Model Predictive Control for a Quadrotor Helicopter under Severe Environmental Flight Conditions”, 18th IFAC World Congress, p.11913-11918, August 28 – September 2 2011, Milan, Italy (DOI: 10.3182/20110828-6-IT-1002.03010)
C. Papachristos, K. Alexis, G. Nikolakopoulos, A. Tzes, “Model Predictive Attitude Control of an unmanned Tilt-Rotor aircraft”, 20th International Symposium on Industrial Electronics, p.922-927, June 27-30 2011, Gdansk, Poland
K. Alexis, G. Nikolakopoulos, A. Tzes, “Model Predictive Control Scheme for the Autonomous Flight of an Unmanned Quadrotor”, 20th International Symposium on Industrial Electronics, p.2243-2248, June 27-30 2011, Gdansk, Poland
K. Alexis, C. Papachristos, G. Nikolakopoulos, A. Tzes, “Model Predictive Quadrotor Indoor Position Control”, 19th Mediterranean Conference on Control and Automation, p.1247-1252, June 20-23 2011, Aquis Corfu Holiday Palace, Corfu, Greece
C. Papachristos, K. Alexis, G. Nikolakopoulos, A. Tzes, “Design and Experimental Attitude Control of a Unmanned Tilt-Rotor Aerial Vehicle”, 15th International Conference on Advanced Robotics, Tallin, p.465-470, June 20-23 2011
K. Alexis, A. Tzes, “Revisited Dos Samara UAV: Design and Control”, International Conference on Robotics and Automation, p.465-470, May 14-18 2012, Minessota, USA
C. Papachristos, K. Alexis, A. Tzes, “Towards a High–End Unmanned Tri–TiltRotor:Design, Modeling and Hover Control”, Mediterranean Conference on Control and Automation, p.1579-1584, 3-6 July, 2012
K. Alexis, C. Huerzeler, R. Siegwart, “Hybrid Modeling and Control of a Coaxial Unmanned Rotorcraft Interacting with its Environment through Contact”, IEEE International Conference on Robotics and Automation (ICRA), May, 2013 (ICRA 2013), p. 5417-5424, Karlsruhe, Germany
C. Huerzeler, K. Alexis, R. Siegwart, “Configurable Real-Time Simulation Suite for Coaxial Rotor UAVs”, IEEE International Conference on Robotics and Automation (ICRA), May, 2013 (ICRA 2013), p. 309-316, Karlsruhe, Germany
C. Papachristos, K. Alexis, A. Tzes “Model Predictive Hovering-Translation Control of an Unmanned Tri-TiltRotor”, IEEE International Conference on Robotics and Automation (ICRA), May, 2013 (ICRA 2013), p. 5425-5432, Karlsruhe, Germany
C. Papachristos, K. Alexis, A. Tzes, “Hybrid Model Predictive Flight Mode Conversion Control for Unmanned Quad-TiltRotors", European Control Conference, July, 2013, p. 1793-1798, Zurich, Switzerland
C. Huerzeler, K. Alexis, R. Siegwart, “Explicit Constrained Optimal Trajectory Control of an Unmanned Coaxial Rotorcraft”, Mediterranean Conference on Control and Automation, June, 2013, p. 363-368, Chania, Crete, Greece
C. Papachristos, K. Alexis, A. Tzes, “Trajectory control of an unmanned Tri-TiltRotor in hover flight via direct longitudinal actuation”, Mediterranean Conference on Control and Automation, June, 2013, p. 369-374, Chania, Crete, Greece
K. Alexis, C. Huerzeler, R. Siegwart, “Unmanned Coaxial Rotorcraft Force and Position Control for Physical Interaction through Contact”, Invited Session, Mediterranean Conference on Control and Automation, 2013, June, 2013, Chania, Crete, Greece
C. Papachristos, K. Alexis, A. Tzes, “Linear Quadratic Optimal Trajectory–Tracking Control of a Longitudinal Thrust Vectoring–Enabled Unmanned Tri–TiltRotor”, International Conference on Informatics in Control, Automation and Robotics, November, 2013, p. 4174-4179, Vienna, Austria
Christoph Huerzeler, roberto naldi, Vincenzo Lippiello, Raffaella Carloni, Janosch Nikolic, Kostas Alexis, Lorenzo Marconi, Roland Siegwart, "AIRobots: Innovative Aerial Service Robots for Remote Inspection by Contact", Video Submission, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013, p. 4174 - 4179, Tokyo, Japan
G. Darivianakis, K. Alexis, M. Burri, R. Siegwart, "Hybrid Predictive Control for Aerial Robotic Physical Interaction towards Inspection Operations", IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, May 31-June 7, 2014, p. 53-58 (Best Automation Paper Finalist)
C. Papachristos, K. Alexis, A. Tzes, "Efficient Force Exertion for Physical Manipulation with UAVs: Exploiting the Direct Thrust-Vectoring Capabilities of a Tri-TiltRotor", IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, May 31-June 7, 2014, p. 4500-4505
C. Papachristos, K. Alexis, A. Tzes, "Technical Activities Execution with a TiltRotor UAS employing Explicit Model Predictive Control", 19th World Congress The International Federation of Automatic Control, August 24-29, 2014, Cape Town, South Africa, p. 11036-11042
K. Alexis, C. Papachristos, R. Siegwart, A. Tzes "Robust Explicit Model Predictive Flight Control ofUnmanned Rotorcrafts: Design and Experimental Evaluation", European Control Conference, 2014, Strasburg, France, June 24-June 27, 2014, p. 498-503
Philipp Oettershagen, Amir Melzer, Stefan Leutenegger, Kostas Alexis, Roland Y. Siegwart, "Explicit Model Predictive Control and L1-Navigation Strategies for Fixed–Wing UAV Path Tracking", Mediterranean Control Conference, 2014, Palermo, Italy, June 16-June 19, 2014, p. 1159-1165
S. Leutenegger, A. Melzer, K. Alexis, R. Siegwart, "Robust State Estimation for Small Unmanned Airplanes", IEEE Multiconference on Systems and Control (MSC), 2014, Antibes, France
A. Bircher, K. Alexis, M. Burri, P. Oettershagen, S. Omari, T. Mantel, R. Siegwart, "Structural Inspection Path Planning via Iterative Viewpoint Resampling with Application to Aerial Robotics", IEEE International Conference on Robotics & Automation, May 26-30, 2015 (ICRA 2015), Seattle, Washington, USA . Open Source Git Repo: https://github.com/ethz-asl/StructuralInspectionPlanner
P. Oettershagen, A. Melzer, T. Mantel, K. Rudin, R. Lotz, D. Siebenmann, S. Leutenegger, K. Alexis, R. Siegwart, "A Solar-Powered Hand-Launchable UAV for Low-Altitude Multi-Day Continuous Flight", IEEE International Conference on Robotics & Automation, May 26-30, 2015 (ICRA 2015), Seattle, Washington, USA
G. De Cubber, D. Doroftei, H. Balta, Y. Baudoin, Y. Yvinec, D. Serrano, K. Alexis, R. Wagemans, "Field experience on deploying unmanned aerial systems for search and rescue and demining", IEEE International Conference on Robotics & Automation, WS on "Robotics & Automation Technologies for Humanitarian Applications: Where we are & Where we can be", May 26-30, 2015 (ICRA 2015), Seattle, Washington, USA
P. Oettershagen, T. J. Stastny, T. A. Mantel, A. S. Melzer, K. Rudin, G. Agamennoni, K. Alexis and R. Siegwart, "Long-Endurance Sensing and Mapping using a Hand-Launchable Solar-Powered UAV", Field and Service Robotics 2015 (FSR2015), Toronto, June 24-26, 2015 - Jointly with this paper we released a relevant dataset which is publicly available here: http://projects.asl.ethz.ch/datasets/doku.php?id=fsr2015
K. Alexis, C. Papachristos, R. Siegwart and A. Tzes, "Sampling-based Receding Horizon Collision-free Control for a Class of Micro Aerial Vehicles", 23rd Mediterranean Conference on Control and Automation (MED 2015), Torremolinos, June 16-19, 2015, Spain
Kostas Alexis, Christos Papachristos, Roland Siegwart, Anthony Tzes, "Uniform Coverage Structural Inspection Path-Planning for Micro Aerial Vehicles", Multiconference on Systems and Control (MSC), 2015, Novotel Sydney Manly Pacific, Sydney Australia. 21-23 September, 2015
Mina Kamel, Kostas Alexis, Markus Wilhelm Achtelik, Roland Siegwart, "Fast Nonlinear Model Predictive Control for Multicopter Attitude Tracking on SO(3)", Multiconference on Systems and Control (MSC), 2015, Novotel Sydney Manly Pacific, Sydney Australia. 21-23 September, 2015
C. Papachristos, D. Tzoumanikas, K. Alexis, A. Tzes, "Autonomous Robotic Aerial Tracking, Avoidance, and Seeking of a Mobile Human Subject", International Symposium of Visual Computing (ISVC) 2015, 2015, Las Vegas, US
L. Zikou, C. Papachristos, K. Alexis, A. Tzes, "Inspection Operations using an Aerial Robot Powered-over-Tether by a Ground Vehicle", International Symposium of Visual Computing (ISVC) 2015, 2015, Las Vegas, US
P. Oettershagen, A. Melzer, T. Mantel, K. Rudin, T. Stastny, B. Wawrzacz, K. Alexis, and R. Siegwart, "Perpetual flight with a small solar-powered UAV: Flight results, performance analysis and model validation", IEEE Aerospace Conference (AeroConf) 2016, Yellowstone Conference, Big Sky, Montana, Mar 5-16, 2016
A. Bircher, M. Kamel, K. Alexis, H. Oleynikova, R. Siegwart, "Receding Horizon "Next-Best-View" Planner for 3D Exploration", IEEE International Conference on Robotics and Automation 2016 (ICRA 2016), Stockholm, Sweden. Open-Source Git Repo: https://github.com/ethz-asl/nbvplanner
S. Verling, B. Weibel, M. Boosfeld, K. Alexis, M. Burri, R. Siegwart, "Full Attitude Control of a VTOL Tailsitter UAV", IEEE International Conference on Robotics and Automation 2016 (ICRA 2016), Stockholm, Sweden
C. Papachristos, K. Alexis, L. R. G. Carrillo, A. Tzes, "Distributed Infrastructure Inspection Path Planning for Aerial Robotics subject to Time Constraints", 2016 International Conference on Unmanned Aircraft Systems, June 7-10, 2016, Atlanta, VA, USA
L.R.G. Carrillo, F. M. Palacios, E. S. Espinoza Quesada, K. Alexis, "Adaptive High Order Sliding Mode Control for Relative Positioning and Trajectory Tracking of Spacecraft Formation Flying", Mediterranean Control Conference, 2016, Athens, Greece, June 21-June 24, 2016
M. Kamel, K. Alexis, and R. Siegwart, "Design and Modeling of a Dexterous Aerial Manipulator", IEEE/RSJ International Conference on Robots and Systems (IROS), Daejeon Convention Center, Korea, 2016
C. Papachristos, K. Alexis, "Augmented Reality–enhanced Structural Inspection using Aerial Robots", IEEE Multi-Conference on Systems and Control 2016 Buenos Aires, Argentina, September 19-22, 2016
S. Khattak, C. Papachristos, K. Alexis, "Autonomous Change Detection using Aerial Robots", International Symposium of Visual Computing (ISVC) 2016, 2016, Las Vegas, US
Christos Papachristos, Kostas Alexis, "Autonomous Detection and Classification of Change using Aerial Robots", IEEE Aerospace Conference, 2017, Yellowstone Conference Center, Big Sky, Montana, March 4-11, 2017
Sebastian Verling, Thomas Stastny, Gregory Bättig, Kostas Alexis, Roland Siegwart, "Model-based Transition Optimization for a VTOL Tailsitter", IEEE International Conference on Robotics and Automation (ICRA), May 29-June 3, 2017, Singapore
Christos Papachristos, Shehryar Khattak, Kostas Alexis, "Uncertainty-aware Receding Horizon Exploration and Mapping using Aerial Robots", IEEE International Conference on Robotics and Automation (ICRA), May 29-June 3, 2017, Singapore
C. Papachristos, S. Khattak, K. Alexis, "Autonomous Exploration of Visually-Degraded Environments using Aerial Robots", International Conference on Unmanned Aircraft Systems (ICUAS), 2017
S. Diamantas, K. Alexis, "Modeling Pixel Intensities with Log-Normal Distributions for Background Subtraction", IEEE International Conference on Imaging Systems and Techniques, 2017
T. Dang, C. Papachristos, K. Alexis, "Autonomous Exploration and Simultaneous Object Search Using Aerial Robots", IEEE Aerospace Conference (AeroConf) 2016, Yellowstone Conference, Big Sky, Montana, March 3-10, 2018
F. Mascarich, S. Khattak, C. Papachristos, K. Alexis, "A Multi-Modal Mapping Unit for Autonomous Exploration and Mapping of Underground Tunnels", IEEE Aerospace Conference (AeroConf) 2016, Yellowstone Conference, Big Sky, Montana, March 3-10, 2018
Frank Mascarich, Taylor Wilson, Christos Papachristos, and Kostas Alexis, "Radiation Source Localization in GPS-denied Environments using Aerial Robots", IEEE International Conference on Robotics and Automation (ICRA), May 21-25, 2018, Brisbane, Australia
Tung Dang, Christos Papachristos, Kostas Alexis, "Visual Saliency-aware Receding Horizon Autonomous Exploration with Application to Aerial Robotics", IEEE International Conference on Robotics and Automation (ICRA), May 21-25, 2018, Brisbane, Australia
F. Mascarich, T. Wilson, Shehryar Khattak, T. Dang, and K. Alexis, "Autonomous 3D and Radiation Mapping in Tunnel Environments Using Aerial Robots", Waste Management Symposia 2018, March 18-22, Phoenix, USA
C. Papachristos, K. Alexis, "Thermal-Inertial Localization for Autonomous Navigation of Aerial Robots through Obscurants", International Conference on Unmanned Aircraft Systems (ICUAS), Dallas, TX, USA, 2018
S. Khattak, C. Papachristos, K. Alexis, "Marker based Thermal-Inertial Localization for Aerial Robots in Obscurant Filled Environments", International Symposium on Visual Computing, Las Vegas, November 19-21, 2018
S. Khattak, C. Papachristos, K. Alexis, "Vision-Depth Landmarks and Inertial Fusion for Navigation in Degraded Visual Environments", International Symposium on Visual Computing, Las Vegas, November 19-21, 2018
R. Fite, S. Khattak, K. Alexis, "History-Aware Free Space Detection for Efficient Autonomous Exploration Using Aerial Robots", IEEE Aerospace Conference (AeroConf) 2019, Yellowstone Conference, Big Sky, Montana, Mar 2-9, 2019
C. Papachristos, S. Khattak, K. Alexis, "Haptic Feedback-based Reactive Navigation for Aerial Robots Subject to Localization Failure", IEEE Aerospace Conference (AeroConf) 2019, Yellowstone Conference, Big Sky, Montana, Mar 2-9, 2019
C. Papachristos, S. Khattak, F. Mascarich, K. Alexis, "Autonomous Navigation and Mapping in Underground Mines Using Aerial Robots", IEEE Aerospace Conference (AeroConf) 2019, Yellowstone Conference, Big Sky, Montana, Mar 2-9, 2019
S. Khattak, C. Papachristos, K. Alexis, "Visual-Thermal Landmarks and Inertial Fusion for Navigation in Degraded Visual Environments", IEEE Aerospace Conference (AeroConf) 2019, Yellowstone Conference, Big Sky, Montana, Mar 2-9, 2019 (Best Paper Award in the "Air Vehicle Systems and Technologies" Track)
S. Khattak, C. Papachristos, K. Alexis, "Keyframe-based Direct Thermal–Inertial Odometry", IEEE International Conference on Robotics and Automation (ICRA), 2019, May 20-24, 2019 Montreal, Canada
F. Mascarich, C. Papachristos, T. Wilson, K. Alexis, "Distributed Radiation Field Estimation and Informative Path Planning for Nuclear Environment Characterization", IEEE International Conference on Robotics and Automation (ICRA), 2019, May 20-24, 2019 Montreal, Canada
N. V. Khedekar, F. Mascarich, C. Papachristos, T. Dang, K. Alexis, "Contact-based Navigation Path Planning for Aerial Robots", IEEE International Conference on Robotics and Automation (ICRA), 2019, May 20-24, 2019 Montreal, Canada
C. Papachristos, S. Khattak, F. Mascarich, T. Dang, K. Alexis, "Autonomous Aerial Robotic Exploration of Subterranean Environments relying on Morphology-aware Path Planning", International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Atlanta, GA, USA
T. Dang, S. Khattak, C. Papachristos, K. Alexis, "Anomaly Detection and Cognizant Path Planning for Surveillance Operations using Aerial Robots", International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Atlanta, GA, USA
S. Khattak, F. Mascarich, T. Dang, C. Papachristos, K. Alexis, "Robust Thermal-Inertial Localization for Aerial Robots: A Case for Direct Methods", International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Atlanta, GA, USA
T. Dang, F. Mascarich, S. Khattak, H. Nguyen, N. Khedekar, C. Papachristos, and K. Alexis, "Field-hardened Robotic Autonomy for Subterranean Exploration", Conference on Field and Service Robotics (FSR), 2019, Aug. 29-31, Tokyo, Japan
T. Dang, F. Mascarich, S. Khattak, C. Papachristos, K. Alexis, "Graph-based Path Planning for Autonomous Robotic Exploration in Subterranean Environments", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, Macau, China
R. Reinhart, T. Dang, E. Hand, K. Alexis, "Learning-based Path Planning for Autonomous Exploration of Subterranean Environments", IROS 2019 LRPC Workshop
T. Dang, S. Khattak, F. Mascarich, K. Alexis, "Explore Locally, Plan Globally: A Path Planning Framework for Autonomous Robotic Exploration in Subterranean Environments", 19th International Conference on Advanced Robotics (ICAR), Belo Horizonte - Brazil, December 2-6, 2019 (Best Paper Award)
K. Alexis, "Resilient Autonomous Exploration and Mapping of Underground Mines using Aerial Robots", 19th International Conference on Advanced Robotics (ICAR), Belo Horizonte - Brazil, December 2-6, 2019
Mihir Rahul Dharmadhikari, Tung Dang, Lukas Solanka, Johannes Brakker Loje, Dinh Huan Nguyen, Nikhil Vijay Khedekar, and Kostas Alexis, "Motion Primitives-based Path Planning for Fast and Agile Exploration using Aerial Robots", IEEE International Conference on Robotics and Automation (ICRA) 2020, May 31 - June 4 2020, Paris, France.
Russell Reinhart, Tung Dang, Emily Hand, Christos Papachristos, and Kostas Alexis, "Learning-based Path Planning for Autonomous Exploration of Subterranean Environments", IEEE International Conference on Robotics and Automation (ICRA) 2020, May 31 - June 4 2020, Paris, France.
Dinh Huan Nguyen, Tung Dang, and Kostas Alexis, "The Reconfigurable Aerial Robotic Chain: Modeling and Control", IEEE International Conference on Robotics and Automation (ICRA) 2020, May 31 - June 4 2020, Paris, France.
Mihir Kulkarni, Nguyen Dinh Huan, Kostas Alexis, "The Reconfigurable Aerial Robotic Chain: Shape and Motion Planning", IFAC 2020 World Congress, Berlin, Germany, July 12-17, 2020
K. Alexis, "Lévy Flight Foraging Hypothesis-based Autonomous Large-scale Memoryless Search under Sparse Rewards", IEEE Aerospace Conference (AeroConf) 2019, Yellowstone Conference, Big Sky, Montana, Mar 7-14, 2020 (Best Paper Award in the "Air Vehicle Systems and Technologies" Track)
T. Dang, F. Mascarich, S. Khattak, D. H. Nguyen, N. Khedekar, S. Hirsh, R. Reinhart, C. Papachristos, K. Alexis, "Autonomous Search for Underground Mine Rescue Using Aerial Robots", IEEE Aerospace Conference (AeroConf) 2019, Yellowstone Conference, Big Sky, Montana, Mar 7-14, 2020
F. Mascarich, D. H. Nguyen, T. Dang, S. Khattak, C. Papachristos, K. Alexis, "A Self-deployed Multi-Channel Wireless Communications System for Subterranean Robots", IEEE Aerospace Conference (AeroConf) 2019, Yellowstone Conference, Big Sky, Montana, Mar 7-14, 2020
S. Khattak, D. H. Nguyen, F. Mascarich, T. Dang, and K. Alexis, "Complementary Multi–Modal Sensor Fusion for Resilient Robot Pose Estimation in Subterranean Environments", International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, 2020
S. Diamantas, and K. Alexis, "Optical Flow Based Background Subtraction with a Moving Camera: Application to Autonomous Driving", International Symposium of Visual Computing (ISVC) 2020, 2020, San Diego (Virtual)
P. De Petris, H. Nguyen, T. Dang, F. Mascarich, and K. Alexis, "Collision-tolerant Autonomous Navigation through Manhole-sized Confined Environments", IEEE International Conference on Safety, Security, and Rescue Robotics (SSRR) November 4-6, 2020, Abu Dhabi, UAE

Book Chapters

K. Alexis, G. Nikolakopoulos, A. Tzes, L. Dritsas, “Coordination of Helicopter UAVs for Aerial Forest-Fire Surveillance”, Applications of Intelligent Control to Engineering Systems, Springer-Verlag, 2009, pp. 169-193
S. Leutenegger, C. Huerzeler, A. K. Stowers, K. Alexis, M. Achtelik, D. Lentink, P. Oh and R. Siegwart, "Flying Robots", Handbook of Robotics, Springer-Verlag
Mina Kamel, Thomas Stastny, Kostas Alexis, Roland Siegwart, "Model Predictive Control for Trajectory Tracking of Unmanned Aerial Vehicles Using ROS", Springer Book on Robot Operating System (ROS) – The Complete Reference (Volume 2)

Organized Workshops

Aerial Robotics Infrastructure Inspection - Organizers: Anibal Ollero, Antonio Franchi, George Nikolakopoulos, Kostas Alexis, European Robotics Forum 2015 (ERF 2015), Vienna, Austria
International Symposium on Visual Computing (ISVC) 2015 - Special track on Advancing Autonomy for Aerial Robotics - Organizers: Kostas Alexis, Margarita Chli, Markus Achtelik, Dimitrios Kottas, George Bebis
Aerial Robotics Manipulation: from Simulation to Real-life - Organizers: Anibal Ollero, Kostas Alexis, Margarita Chli, Gianluca Antonelli, Antonio Franchi, and Matteo Fumagalli, IEEE International Conference on Robotics and Automation 2016 (ICRA 2016), Stockholm, Sweden
International Symposium on Visual Computing (ISVC) 2016 - Special track on Advancing Autonomy for Aerial Robotics - Organizers: Kostas Alexis, Margarita Chli, Paul Oh, Christos Papachristos, Philipp Oettershagen, George Nikolakopoulos, Louis Rodolfo Garcia Carrilo
Robots in the Wild: The Algorithms used and the Experiences gained from Field Evaluation - Organizers: Kostas Alexis, Sebastian Verling, International Conference on Unmanned Aircraft Systems 2017 (ICUAS 2017)
Autonomous Structural Monitoring and Maintenance using Aerial Robots - Organizers: K. Alexis, M. W. Achtelik, G. Antonelli, M. Chli, A. Ollero, R. Siegwart, K. Valavanis, IEEE International Conference on Robotics and Automation 2017 (ICRA 2017), Singapore
Autonomous Navigation for Aerial Robots in Extreme Environments: From Subterranean Environments to the Arctic - Organizers: K. Alexis, M. Mueller, T. Stastny, C. Papachristos, International Conference on Unmanned Aircraft Systems 2018 (ICUAS 2018)
Aerial Robotic Inspection and Maintenance: Research Challenges, Field Experience and Industry Needs - Organizers: K. Alexis, G. Antonelli, M. Calva, M. Chli, M. Fumagalli, A. Ollero, IEEE International Conference on Robotics and Automation 2018 (ICRA 2018), Brisbane Australia
The Future of Aerial Robotics: Challenges and Opportunities - Organizes: K. Alexis, G. Antonelli, M. Chli, G. Loianno, A. Ollero, IEEE International Conference on Robotics and Automation 2019 (ICRA 2019), Montreal, Canada

Open-Source Code Releases

Structural Inspection Planner: https://github.com/ethz-asl/StructuralInspectionPlanner
Next-Best-View Planner: https://github.com/ethz-asl/nbvplanner
Lin-Kernighan-He_lsgaun TSP Solver Interfaces: https://github.com/unr-arl/LKH_TSP
Robust MPC: https://github.com/unr-arl/rmpc_mav
Dubins Airplane solver: https://github.com/unr-arl/DubinsAirplane
Motion Analysis Cortex Mocap ROS Bridge: https://github.com/unr-arl/cortex_ros_bridge
Uncertainty-aware Receding Horizon Exploration and Mapping Planner (RHEM): https://github.com/unr-arl/rhem_planner
Visual Saliency-aware Exploration Planner: https://github.com/unr-arl/vseplanner
History-Aware Free Space Detection for Efficient Autonomous Exploration: https://github.com/unr-arl/hfsd
Image Brighten: https://github.com/ntnu-arl/image_brighten_ros
Graph-based Exploration Path Planner (GBPlanner): https://github.com/ntnu-arl/gbplanner_ros
Motion Primitives-based Exploration Path Planner (MBPlanner): https://github.com/ntnu-arl/mbplanner_ros

Appendices and other Reports

ARC-M Appendix

Research

Autonomous Robots Lab

Publications

For a full list of publications please visit the Google Scholar of Prof. Dr. Kostas Alexis or the relevant page of the Autonomous Robots Lab.

2026

Alexis, Konstantinos; Malczyk, Grzegorz Dariusz; Zanatta, Luca. (2026) [2606.05015] Generalization of World Models under Environmental Variability for Vision-based Quadrotor Navigation. arXiv
Academic article
Alexis, Konstantinos; Malczyk, Grzegorz Dariusz; Kulkarni, Mihir Vinay. (2026) GitHub - ntnu-arl/active-perception-RL-navigation: This repository provides the source code for the paper Reinforcement Learning for Active Perception in Autonomous Navigation. · GitHub. Konstantinos Alexis
Source code
Mohammed, Fatma Youssef Mohammed Abdelfa; Malczyk, Grzegorz Dariusz; Alexis, Konstantinos. (2026) Fast Human Attention Prediction for Fixation-guided Active Perception in Autonomous Navigation.
Film
Rehberg, Welf Peter; Kulkarni, Mihir Vinay; Weiss, Philipp; Alexis, Konstantinos. (2026) Efficient Knowledge Transfer for Jump-Starting Control Policy Learning of Multirotors through Physics-Aware Neural Architectures.
Film
Sawant, Omkar Mangesh; Zanatta, Luca; Malczyk, Grzegorz Dariusz; Alexis, Konstantinos. (2026) Cross-Modal Reinforcement Learning for Navigation with Degraded Depth Measurements. IEEE European Control Conference (ECC)
Academic article
Zacharia, Angelos; Dharmadhikari, Mihir Rahul; Alexis, Konstantinos. (2026) Collaborative Exploration With a Marsupial Ground-Aerial Robot Team Through Task-Driven Map Compression.
Film
Malczyk, Grzegorz Dariusz; Kulkarni, Mihir Vinay; Alexis, Konstantinos. (2026) Reinforcement Learning for Active Perception in Autonomous Navigation.
Film
Zacharia, Angelos; Dharmadhikari, Mihir Rahul; Mohit Singh; Alexis, Konstantinos. (2026) Source Code: OmniPlanner: Universal Exploration and Inspection Path Planning Across Robot Morphologies. Angelos Zacharia
Source code
Malczyk, Grzegorz Dariusz; Kulkarni, Mihir Vinay; Alexis, Konstantinos. (2026) Reinforcement Learning for Active Perception in Autonomous Navigation. Grzegorz Dariusz Malczyk
Source code
Molinaroli, Davide; Mohit Singh; Alexis, Konstantinos. (2026) Design and Attitude Control of an Underwater Quadruped Robot. International Symposium of Robotics Research (ISRR)
Academic article
Mohit Singh; Khattak, Shehryar; Goel, Ashish; Paton, Michael; Alexis, Konstantinos; Nesnas, Issa A.. (2026) BEVIO: Efficient Bird's-Eye-View based Sparse-Update Visual-Inertial Odometry for Lunar Day-Night Navigation. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Puigjaner, Albert Gassol; Alexis, Konstantinos. (2026) Relationship-Aware Hierarchical 3D Scene Graph. Albert Gassol Puigjaner
Source code
Puigjaner, Albert Gassol; Alexis, Konstantinos. (2026) Hierarchical Floorplan-Guided Vision-Language Exploration for Embodied Question Answering. arXiv
Academic article
Puigjaner, Albert Gassol; Alexis, Konstantinos. (2026) Hierarchical Floorplan-Guided Vision-Language Exploration for Embodied Question Answering. Albert Gassol Puigjaner
Source code
Zacharia, Angelos; Dharmadhikari, Mihir Rahul; Mohit Singh; Alexis, Konstantinos. (2026) OmniPlanner: Universal Exploration and Inspection Path Planning Across Robot Morphologies. IEEE Transactions on Field Robotics (T-FR)
Academic article
Delama, Giulio; Michalczyk, Jan; Nissov, Morten; Scheiber, Martin; Fornasier, Alessandro; Alexis, Konstantinos; Weiss, Stephan. (2026) Equivariant Filter for Radar-Inertial Odometry. IEEE Robotics and Automation Letters
Academic article
Rehberg, Welf Peter; Kulkarni, Mihir Vinay; Weiss, Philipp; Alexis, Konstantinos. (2026) Efficient Knowledge Transfer for Jump-Starting Control Policy Learning of Multirotors Through Physics-Aware Neural Architectures. IEEE Robotics and Automation Letters
Academic article
Mohammed, Fatma Youssef Mohammed Abdelfa; Malczyk, Grzegorz Dariusz; Alexis, Konstantinos. (2026) Fast Human Attention Prediction for Fixation-guided Active Perception in Autonomous Navigation. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Academic article
Yip, Mau Hing; Mohit Singh; Alexis, Konstantinos; Schellewald, Christian; Stahl, Annette. (2026) IBPA: Real-time Free-form Manifold Mesh Reconstruction via Incremental Ball Pivoting with Integrated Hole Detection. arXiv
Academic article
Puigjaner, Albert Gassol; Zacharia, Angelos; Alexis, Konstantinos. (2026) Relationship-aware hierarchical 3d scene graph for task reasoning. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Malczyk, Grzegorz Dariusz; Kulkarni, Mihir Vinay; Alexis, Konstantinos. (2026) Reinforcement Learning for Active Perception in Autonomous Navigation. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Nissov, Morten; Mohit Singh, Mohit Singh; Alexis, Konstantinos. (2026) Tightly-coupled radar-visual-inertial odometry. European Journal of Control
Academic article
Nissov, Morten; Alexis, Konstantinos; Leutenegger, Stefan. (2026) Perception in Degraded Environments: Sensor Fusion Through the Lens of FMCW Radar. Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
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
Academic article
Papadakis, Michail; Olsen, Jørgen Anker; Poulakakis, Ioannis; Alexis, Konstantinos. (2026) Modeling and In-flight Torso Attitude Stabilization of a Jumping Quadruped.
Academic chapter

2025

Zacharia, Angelos; Dharmadhikari, Mihir Rahul; Alexis, Konstantinos. (2025) Collaborative Exploration with a Marsupial Ground-Aerial Robot Team through Task-Driven Map Compression. Angelos Zacharia
Source code
Malczyk, Grzegorz Dariusz; Kulkarni, Mihir Vinay; Alexis, Konstantinos. (2025) Semantically-Driven Deep Reinforcement Learning for Inspection Path Planning.
Film
Malczyk, Grzegorz Dariusz; Kulkarni, Mihir Vinay; Alexis, Konstantinos. (2025) Semantically-driven Deep Reinforcement Learning for Inspection Path Planning. Grzegorz Dariusz Malczyk
Source code
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)
Academic article
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.
Academic chapter
Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2025) PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry. arXiv
Academic article
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)
Academic article
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
Academic article
Jacquet, Martin; Harms, Marvin Chayton; Alexis, Konstantinos. (2025) Neural NMPC through signed distance field encoding for collision avoidance. The International Journal of Robotics Research
Academic article
Mohammed, Fatma Youssef Mohammed Abdelfa; Alexis, Konstantinos. (2025) Unified Attention Modeling for Efficient Free-Viewing and Visual Search via Shared Representations.
Academic chapter
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)
Academic article
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)
Academic article
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
Doctoral thesis
Malczyk, Grzegorz Dariusz; Kulkarni, Mihir Vinay; Alexis, Konstantinos. (2025) Semantically-Driven Deep Reinforcement Learning for Inspection Path Planning. IEEE Robotics and Automation Letters
Academic article
Dharmadhikari, Mihir Rahul; Alexis, Konstantinos. (2025) Semantics-aware Predictive Inspection Path Planning. IEEE Transactions on Field Robotics (T-FR)
Academic article
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
Academic article

2024

El-Agroudi, Tarek; Maurer, Finn Gross; Olsen, Jørgen Anker; Alexis, Konstantinos. (2024) In-Flight Attitude Control of a Quadruped using Deep Reinforcement Learning.
Academic chapter
de Petris, Paolo; Nissov, Morten; Alexis, Konstantinos. (2024) Morphy: a Compliant and Morphologically-Aware Flying Robot. Advanced Intelligent Systems
Academic article
Hatleskog, Johan; Alexis, Konstantinos. (2024) Probabilistic Degeneracy Detection for Point-to-Plane Error Minimization. IEEE Robotics and Automation Letters
Academic article
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
Academic article
Nissov, Morten Christian; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2024) Degradation Resilient LiDAR-Radar-Inertial Odometry. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
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)
Academic article
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
Academic article
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)
Conference abstract
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
Academic article
Kulkarni, Mihir Vinay; Alexis, Konstantinos. (2024) Reinforcement Learning for Collision-free Flight Exploiting Deep Collision Encoding. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
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)
Academic article
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)
Academic article
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
Academic article
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)
Academic article
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)
Academic article
Petracek, Pavel; Alexis, Konstantinos; Saska, Martin. (2024) RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation. IEEE Robotics and Automation Letters
Academic article
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)
Academic article

2023

Kulkarni, Mihir; Alexis, Konstantinos. (2023) Task-driven Compression for Collision Encoding based on Depth Images. Lecture Notes in Computer Science (LNCS)
Academic article
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.
Academic chapter
Olsen, Jørgen Anker; Alexis, Konstantinos. (2023) Martian Lava Tube Exploration Using Jumping Legged Robots: A Concept Study.
Academic chapter
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
Academic article
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)
Academic article
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)
Academic article
Dharmadhikari, Mihir Rahul; Alexis, Konstantinos. (2023) Semantics-aware Exploration and Inspection Path Planning.
Academic chapter
Xanthidis, Marios; Kelasidi, Eleni; Alexis, Konstantinos. (2023) ResiFarm - Resilient Robotic Autonomy for Underwater Operations in Fish Farms. Aquaculture Europe
Conference abstract
Xanthidis, Marios; Kelasidi, Eleni; Alexis, Konstantinos. (2023) ResiPlan: Closing the Planning-Acting Loop for Safe Underwater Navigation.
Academic chapter
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
Academic article
Olsen, Jørgen Anker; Alexis, Konstantinos. (2023) Design and Experimental Verification of a Jumping Legged Robot for Martian Lava Tube Exploration.
Academic chapter
Vangen, Aleksander Blekken; Barnwal, Tejal; Olsen, Jørgen Anker; Alexis, Konstantinos. (2023) Terrain Recognition and Contact Force Estimation through a Sensorized Paw for Legged Robots.
Academic chapter

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.
Academic chapter
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
Academic article
Kulkarni, Mihir; Moon, Brady; Alexis, Konstantinos; Scherer, Sebastian. (2022) Aerial Field Robotics.
Non-fiction chapter
Nguyen, Dinh Huan; Fyhn, Sondre Holm; de Petris, Paolo; Alexis, Konstantinos. (2022) Motion Primitives-based Navigation Planning using Deep Collision Prediction.
Academic chapter
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.
Academic chapter
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
Academic article
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
Academic article
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.
Academic chapter
de Petris, Paolo; Dharmadhikari, Mihir; Nguyen, Dinh Huan; Alexis, Konstantinos. (2022) Risk-aware Motion Planning for Collision-tolerant Aerial Robots subject to Localization Uncertainty.
Academic chapter
Khedekar, Nikhil; Kulkarni, Mihir; Alexis, Konstantinos. (2022) MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation.
Academic chapter

2021

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

Journal publications

Alexis, Konstantinos; Malczyk, Grzegorz Dariusz; Zanatta, Luca. (2026) [2606.05015] Generalization of World Models under Environmental Variability for Vision-based Quadrotor Navigation. arXiv
Academic article
Sawant, Omkar Mangesh; Zanatta, Luca; Malczyk, Grzegorz Dariusz; Alexis, Konstantinos. (2026) Cross-Modal Reinforcement Learning for Navigation with Degraded Depth Measurements. IEEE European Control Conference (ECC)
Academic article
Molinaroli, Davide; Mohit Singh; Alexis, Konstantinos. (2026) Design and Attitude Control of an Underwater Quadruped Robot. International Symposium of Robotics Research (ISRR)
Academic article
Mohit Singh; Khattak, Shehryar; Goel, Ashish; Paton, Michael; Alexis, Konstantinos; Nesnas, Issa A.. (2026) BEVIO: Efficient Bird's-Eye-View based Sparse-Update Visual-Inertial Odometry for Lunar Day-Night Navigation. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Puigjaner, Albert Gassol; Alexis, Konstantinos. (2026) Hierarchical Floorplan-Guided Vision-Language Exploration for Embodied Question Answering. arXiv
Academic article
Zacharia, Angelos; Dharmadhikari, Mihir Rahul; Mohit Singh; Alexis, Konstantinos. (2026) OmniPlanner: Universal Exploration and Inspection Path Planning Across Robot Morphologies. IEEE Transactions on Field Robotics (T-FR)
Academic article
Delama, Giulio; Michalczyk, Jan; Nissov, Morten; Scheiber, Martin; Fornasier, Alessandro; Alexis, Konstantinos; Weiss, Stephan. (2026) Equivariant Filter for Radar-Inertial Odometry. IEEE Robotics and Automation Letters
Academic article
Rehberg, Welf Peter; Kulkarni, Mihir Vinay; Weiss, Philipp; Alexis, Konstantinos. (2026) Efficient Knowledge Transfer for Jump-Starting Control Policy Learning of Multirotors Through Physics-Aware Neural Architectures. IEEE Robotics and Automation Letters
Academic article
Mohammed, Fatma Youssef Mohammed Abdelfa; Malczyk, Grzegorz Dariusz; Alexis, Konstantinos. (2026) Fast Human Attention Prediction for Fixation-guided Active Perception in Autonomous Navigation. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Academic article
Yip, Mau Hing; Mohit Singh; Alexis, Konstantinos; Schellewald, Christian; Stahl, Annette. (2026) IBPA: Real-time Free-form Manifold Mesh Reconstruction via Incremental Ball Pivoting with Integrated Hole Detection. arXiv
Academic article
Puigjaner, Albert Gassol; Zacharia, Angelos; Alexis, Konstantinos. (2026) Relationship-aware hierarchical 3d scene graph for task reasoning. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Malczyk, Grzegorz Dariusz; Kulkarni, Mihir Vinay; Alexis, Konstantinos. (2026) Reinforcement Learning for Active Perception in Autonomous Navigation. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Nissov, Morten; Mohit Singh, Mohit Singh; Alexis, Konstantinos. (2026) Tightly-coupled radar-visual-inertial odometry. European Journal of Control
Academic article
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
Academic article
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)
Academic article
Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2025) PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry. arXiv
Academic article
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)
Academic article
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
Academic article
Jacquet, Martin; Harms, Marvin Chayton; Alexis, Konstantinos. (2025) Neural NMPC through signed distance field encoding for collision avoidance. The International Journal of Robotics Research
Academic article
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)
Academic article
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)
Academic article
de Petris, Paolo; Nissov, Morten; Alexis, Konstantinos. (2024) Morphy: a Compliant and Morphologically-Aware Flying Robot. Advanced Intelligent Systems
Academic article
Kulkarni, Mihir; Alexis, Konstantinos. (2023) Task-driven Compression for Collision Encoding based on Depth Images. Lecture Notes in Computer Science (LNCS)
Academic article
Hatleskog, Johan; Alexis, Konstantinos. (2024) Probabilistic Degeneracy Detection for Point-to-Plane Error Minimization. IEEE Robotics and Automation Letters
Academic article
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
Academic article
Nissov, Morten Christian; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2024) Degradation Resilient LiDAR-Radar-Inertial Odometry. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
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
Academic article
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)
Academic article
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
Academic article
Nguyen, Dinh Huan; Alexis, Kostas. (2021) Forceful Aerial Manipulation Based on an Aerial Robotic Chain: Hybrid Modeling and Control. IEEE Robotics and Automation Letters
Academic article
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)
Academic article
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)
Academic article
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
Academic article
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)
Conference abstract
Malczyk, Grzegorz Dariusz; Kulkarni, Mihir Vinay; Alexis, Konstantinos. (2025) Semantically-Driven Deep Reinforcement Learning for Inspection Path Planning. IEEE Robotics and Automation Letters
Academic article
Dharmadhikari, Mihir Rahul; Alexis, Konstantinos. (2025) Semantics-aware Predictive Inspection Path Planning. IEEE Transactions on Field Robotics (T-FR)
Academic article
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
Academic article
Kulkarni, Mihir Vinay; Alexis, Konstantinos. (2024) Reinforcement Learning for Collision-free Flight Exploiting Deep Collision Encoding. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
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)
Academic article
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)
Academic article
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
Academic article
Xanthidis, Marios; Kelasidi, Eleni; Alexis, Konstantinos. (2023) ResiFarm - Resilient Robotic Autonomy for Underwater Operations in Fish Farms. Aquaculture Europe
Conference abstract
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
Academic article
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
Academic article
Gasteratos, Antonios; Bampis, Loukas; Galambos, Peter; Alexis, Konstantinos; Aloimonos, Yiannis. (2021) Guest Editorial: Deep Learning and Robotics. Electronics Letters
Editorial
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
Academic article
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)
Academic article
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)
Academic article
Petracek, Pavel; Alexis, Konstantinos; Saska, Martin. (2024) RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation. IEEE Robotics and Automation Letters
Academic article
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
Academic article
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)
Academic article

Artistic productions

Mohammed, Fatma Youssef Mohammed Abdelfa; Malczyk, Grzegorz Dariusz; Alexis, Konstantinos. (2026) Fast Human Attention Prediction for Fixation-guided Active Perception in Autonomous Navigation.
Film
Rehberg, Welf Peter; Kulkarni, Mihir Vinay; Weiss, Philipp; Alexis, Konstantinos. (2026) Efficient Knowledge Transfer for Jump-Starting Control Policy Learning of Multirotors through Physics-Aware Neural Architectures.
Film
Zacharia, Angelos; Dharmadhikari, Mihir Rahul; Alexis, Konstantinos. (2026) Collaborative Exploration With a Marsupial Ground-Aerial Robot Team Through Task-Driven Map Compression.
Film
Malczyk, Grzegorz Dariusz; Kulkarni, Mihir Vinay; Alexis, Konstantinos. (2025) Semantically-Driven Deep Reinforcement Learning for Inspection Path Planning.
Film
Malczyk, Grzegorz Dariusz; Kulkarni, Mihir Vinay; Alexis, Konstantinos. (2026) Reinforcement Learning for Active Perception in Autonomous Navigation.
Film

Part of book/report

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.
Academic chapter
Mohammed, Fatma Youssef Mohammed Abdelfa; Alexis, Konstantinos. (2025) Unified Attention Modeling for Efficient Free-Viewing and Visual Search via Shared Representations.
Academic chapter
El-Agroudi, Tarek; Maurer, Finn Gross; Olsen, Jørgen Anker; Alexis, Konstantinos. (2024) In-Flight Attitude Control of a Quadruped using Deep Reinforcement Learning.
Academic chapter
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.
Academic chapter
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.
Academic chapter
Olsen, Jørgen Anker; Alexis, Konstantinos. (2023) Martian Lava Tube Exploration Using Jumping Legged Robots: A Concept Study.
Academic chapter
Mathur, Pranay; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2021) Resource-aware Online Parameter Adaptation for Computationally-constrained Visual-Inertial Navigation Systems.
Academic chapter
Kulkarni, Mihir; Moon, Brady; Alexis, Konstantinos; Scherer, Sebastian. (2022) Aerial Field Robotics.
Non-fiction chapter
Nguyen, Dinh Huan; Fyhn, Sondre Holm; de Petris, Paolo; Alexis, Konstantinos. (2022) Motion Primitives-based Navigation Planning using Deep Collision Prediction.
Academic chapter
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.
Academic chapter
Dharmadhikari, Mihir Rahul; Alexis, Konstantinos. (2023) Semantics-aware Exploration and Inspection Path Planning.
Academic chapter
Dharmadhikari, Mihir; Nguyen, Dinh Huan; Mascarich, Frank; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2021) Autonomous Cave Exploration using Aerial Robots.
Academic chapter
Papadakis, Michail; Olsen, Jørgen Anker; Poulakakis, Ioannis; Alexis, Konstantinos. (2026) Modeling and In-flight Torso Attitude Stabilization of a Jumping Quadruped.
Academic chapter
Duan, Ran; Fu, Changhong; Alexis, Konstantinos; Kayacan, Erdal. (2021) Online Recommendation-based Convolutional Features for Scale-Aware Visual Tracking.
Academic chapter
Mascarich, Frank; de Petris, Paolo; Nguyen, Dinh Huan; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2021) Autonomous Distributed 3D Radiation Field Estimation for Nuclear Environment Characterization.
Academic chapter
Xanthidis, Marios; Kelasidi, Eleni; Alexis, Konstantinos. (2023) ResiPlan: Closing the Planning-Acting Loop for Safe Underwater Navigation.
Academic chapter
Nguyen, Dinh Huan; Siegwart, Roland; Alexis, Konstantinos; Kamel, Mina. (2021) Model Predictive Control for Micro Aerial Vehicles: A Survey.
Academic chapter
Dharmadhikari, Mihir; Deshpande, Harshal; Dang, Tung; Alexis, Konstantinos. (2021) Hypergame-based Adaptive Behavior Path Planning for Combined Exploration and Visual Search.
Academic chapter
de Petris, Paolo; Nguyen, Dinh Huan; Kulkarni, Mihir; Mascarich, Frank; Alexis, Konstantinos. (2021) Resilient Collision-tolerant Navigation in Confined Environments.
Academic chapter
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.
Academic chapter
de Petris, Paolo; Dharmadhikari, Mihir; Nguyen, Dinh Huan; Alexis, Konstantinos. (2022) Risk-aware Motion Planning for Collision-tolerant Aerial Robots subject to Localization Uncertainty.
Academic chapter
Khedekar, Nikhil; Kulkarni, Mihir; Alexis, Konstantinos. (2022) MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation.
Academic chapter
Olsen, Jørgen Anker; Alexis, Konstantinos. (2023) Design and Experimental Verification of a Jumping Legged Robot for Martian Lava Tube Exploration.
Academic chapter
Vangen, Aleksander Blekken; Barnwal, Tejal; Olsen, Jørgen Anker; Alexis, Konstantinos. (2023) Terrain Recognition and Contact Force Estimation through a Sensorized Paw for Legged Robots.
Academic chapter

Student thesis or dissertation

Nissov, Morten; Alexis, Konstantinos; Leutenegger, Stefan. (2026) Perception in Degraded Environments: Sensor Fusion Through the Lens of FMCW Radar. Norges teknisk-naturvitenskapelige universitet
Doctoral thesis
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
Doctoral thesis

Teaching

Courses

TTK4854 - Experts in teams - Robotic Ocean Waste Removal

Outreach