Anastasios Lekkas
+4794101359
Elektro D/B2, D449, Gløshaugen
About
I am an associate professor of autonomous systems at the Department of Engineering Cybernetics (ITK), where one of my main goals is to merge Artificial Intelligence (AI) methods with control engineering and develop cyber-physical systems of increased autonomy. My main application areas are surface and underwater marine vehicles. I serve as supervisor for PhD and MSc students and have co-developed a specialization course on autonomous systems.
Since August 2022, I am centre director for SFI Autoship.
Moreover, I am project manager for the EXAIGON project, which is funded by the Research Council of Norway (RCN) and aims at developing explainable AI systems for business-critical applications. EXAIGON will run between 2020-24 and has a total budget of 20 MNOK (around $2.2 million), of which 16 MNOK is funded by RCN.
Work Experience
08/2022 - Present: Director, SFI Autoship
01/2018 - Present: Associate professor of autonomous systems at ITK/NTNU.
12/2016 - 12/2018: EU affairs manager at NTNU Oceans.
12/2016 - 12/2017: Researcher at the Department of Marine Technology, NTNU.
08/2015 - 05/2019: Coordinator of the JPI Oceans action "European Marine Sensor Calibration Network".
02/2015 - 12/2016: Science officer at JPI Oceans Secretariat in Brussels, Belgium.
03/2014 - 01/2015: Postdoctoral researcher at the Centre of Excellence NTNU AMOS (Autonomous Marine Operations and Systems).
08/2009 - 03/2014: PhD candidate at ITK and the Centre of Excellence CeSOS (Centre for Ships and Ocean Structures)
09/2008 - 08/2009: Research associate at the Stochastic Mechanical Signals and Automation laboratory, University of Patras, Greece.
Education
2014: PhD in Engineering Cybernetics, NTNU, Norway.
2008: Diploma (5-year study) in Mechanical and Aeronautical Engineering, University of Patras, Greece.
Supervision
PhD Students
Main Supervisor:
- Andreas Bell Martinsen (2018-21) - Reinforcement learning methods for guidance, navigation and control of marine vehicles.
- Libo Xue (2018-21): AI planning and control for underwater intervention drones (part of SEAVENTION project).
- Vilde Gjærum 2019-22: Explainable AI methods for cyber-physical systems (part of the EXAIGON project)
- Sindre B. Remman 2020-24: Explainable AI methods for cyberphysical systems (part of the EXAIGON project)
Co-supervisor
- Glenn Ivar Bitar (2017-20) - Energy-optimal and autonomous control for car ferries (Main supervisor: Morten Breivik)
- Emil Hjelseth Thyri (2019-22): Automation and autonomy for all-electric autonomous passenger ferries (part of the project NTNU Autoferry. (Main supervisor: Morten Breivik))
MSc Students
- 2020-21 Supervision of 5 students (AI and control, Explainable AI, autonomous ships)
- 2019-20 Supervision of 11 MSc students within AI and control
-
2018-19: I supervise 8 MSc students who work on AI methods for autonomous ships, ROVS, robotic manipulators, and self-driving cars.
-
2017-18 Supervision of 5 MSc students (AI planning, deep learning, reinforcement learning)
Projects
2020-2024 EXAIGON (Project manager, WP leader)
2018-2021: SEAVENTION (WP participant and PhD student main supervisor)
2018-2021: NTNU Autoferry (WP participant and PhD student co-supervisor)
2013-2017: NextGenIMR (Postdoctoral researcher)
Publications
2020
-
Eriksen, Bjørn-Olav Holtung;
Bitar, Glenn Ivan;
Breivik, Morten;
Lekkas, Anastasios M..
(2020)
Hybrid Collision Avoidance for ASVs Compliant with COLREGs Rules 8 and 13-17.
Frontiers in Robotics and AI
Academic article
-
Guidi, Giuseppe;
Lekkas, Anastasios M.;
Stranden, Jon Eivind;
Suul, Jon Are Wold.
(2020)
Dynamic Wireless Charging of Autonomous Vehicles: Small-scale demonstration of inductive power transfer as an enabling technology for self-sufficient energy supply.
IEEE Electrification Magazine
Academic article
2019
-
Martinsen, Andreas Bell;
Lekkas, Anastasios M.;
Gros, Sebastien.
(2019)
Autonomous docking using direct optimal control.
IFAC-PapersOnLine
Academic article
-
Bitar, Glenn Ivan;
Vestad, Vegard Nitter;
Lekkas, Anastasios M.;
Breivik, Morten.
(2019)
Warm-started optimized trajectory planning for ASVs.
IFAC-PapersOnLine
Academic article
-
Bitar, Glenn Ivan;
Eriksen, Bjørn-Olav Holtung;
Lekkas, Anastasios M.;
Breivik, Morten.
(2019)
Energy-Optimized Hybrid Collision Avoidance for ASVs.
IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
2018
-
Bitar, Glenn Ivan;
Breivik, Morten;
Lekkas, Anastasios M..
(2018)
Energy-Optimized Path Planning for Autonomous Ferries.
Elsevier
Academic chapter/article/Conference paper
-
Martinsen, Andreas Bell;
Lekkas, Anastasios M..
(2018)
Curved path following with deep reinforcement learning: Results from three vessel models.
IEEE conference proceedings
Academic chapter/article/Conference paper
-
Martinsen, Andreas Bell;
Lekkas, Anastasios M..
(2018)
Straight-Path Following for Underactuated Marine Vessels using Deep Reinforcement Learning.
Elsevier
Academic chapter/article/Conference paper
2017
-
Candeloro, Mauro;
Lekkas, Anastasios M.;
Sørensen, Asgeir Johan.
(2017)
A Voronoi-diagram-based dynamic path-planning system for underactuated marine vessels.
Control Engineering Practice
Academic article
-
Fossen, Thor I.;
Lekkas, Anastasios M..
(2017)
Direct and Indirect Adaptive Integral Line-of-Sight Path-Following Controllers for Marine Craft Exposed to Ocean Currents.
International Journal of Adaptive Control and Signal Processing
Academic article
2016
-
Lekkas, Anastasios M.;
Roald, Ann Louise;
Breivik, Morten.
(2016)
Online Path Planning for Surface Vehicles Exposed to Unknown Ocean Currents Using Pseudospectral Optimal Control.
IFAC-PapersOnLine
Academic article
-
Candeloro, Mauro;
Lekkas, Anastasios M.;
Hegde, Jeevith;
Sørensen, Asgeir Johan.
(2016)
A 3D Dynamic Voronoi Diagram-Based Path-Planning System for UUVs.
IEEE conference proceedings
Academic chapter/article/Conference paper
2014
-
Lekkas, Anastasios;
Fossen, Thor I..
(2014)
Trajectory tracking and ocean current estimation for marine underactuated vehicles.
Proceedings of the IEEE Conference on Control Applications
Academic article
-
Lekkas, Anastasios M.;
Fossen, Thor I..
(2014)
Guidance and Path-Planning Systems for Autonomous Vehicles.
Norges teknisk-naturvitenskapelige universitet
Doktoravhandlinger ved NTNU (126)
Doctoral dissertation
-
Lekkas, Anastasios;
Fossen, Thor I..
(2014)
Integral LOS Path Following for Curved Paths Based on a Monotone Cubic Hermite Spline Parametrization.
IEEE Transactions on Control Systems Technology
Academic article
2013
-
Lekkas, Anastasios;
Dahl, Andreas R;
Breivik, Morten;
Fossen, Thor I..
(2013)
Continuous-Curvature Path Generation using Fermat's Spiral.
MIC Journal: Modeling, Identification and Control
Academic article
-
Candeloro, Mauro;
Lekkas, Anastasios;
Sørensen, Asgeir Johan;
Fossen, Thor I..
(2013)
Continuous Curvature Path Planning using Voronoi diagrams and Fermat's spirals.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Lekkas, Anastasios;
Fossen, Thor I..
(2013)
A Quaternion-Based LOS Guidance Scheme for Path Following of AUVs.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Lekkas, Anastasios;
Fossen, Thor I..
(2013)
Line-of-Sight Guidance for Path Following of Marine Vehicles.
Academic chapter/article/Conference paper
Journal publications
-
Eriksen, Bjørn-Olav Holtung;
Bitar, Glenn Ivan;
Breivik, Morten;
Lekkas, Anastasios M..
(2020)
Hybrid Collision Avoidance for ASVs Compliant with COLREGs Rules 8 and 13-17.
Frontiers in Robotics and AI
Academic article
-
Guidi, Giuseppe;
Lekkas, Anastasios M.;
Stranden, Jon Eivind;
Suul, Jon Are Wold.
(2020)
Dynamic Wireless Charging of Autonomous Vehicles: Small-scale demonstration of inductive power transfer as an enabling technology for self-sufficient energy supply.
IEEE Electrification Magazine
Academic article
-
Martinsen, Andreas Bell;
Lekkas, Anastasios M.;
Gros, Sebastien.
(2019)
Autonomous docking using direct optimal control.
IFAC-PapersOnLine
Academic article
-
Bitar, Glenn Ivan;
Vestad, Vegard Nitter;
Lekkas, Anastasios M.;
Breivik, Morten.
(2019)
Warm-started optimized trajectory planning for ASVs.
IFAC-PapersOnLine
Academic article
-
Candeloro, Mauro;
Lekkas, Anastasios M.;
Sørensen, Asgeir Johan.
(2017)
A Voronoi-diagram-based dynamic path-planning system for underactuated marine vessels.
Control Engineering Practice
Academic article
-
Fossen, Thor I.;
Lekkas, Anastasios M..
(2017)
Direct and Indirect Adaptive Integral Line-of-Sight Path-Following Controllers for Marine Craft Exposed to Ocean Currents.
International Journal of Adaptive Control and Signal Processing
Academic article
-
Lekkas, Anastasios M.;
Roald, Ann Louise;
Breivik, Morten.
(2016)
Online Path Planning for Surface Vehicles Exposed to Unknown Ocean Currents Using Pseudospectral Optimal Control.
IFAC-PapersOnLine
Academic article
-
Lekkas, Anastasios;
Fossen, Thor I..
(2014)
Trajectory tracking and ocean current estimation for marine underactuated vehicles.
Proceedings of the IEEE Conference on Control Applications
Academic article
-
Lekkas, Anastasios;
Fossen, Thor I..
(2014)
Integral LOS Path Following for Curved Paths Based on a Monotone Cubic Hermite Spline Parametrization.
IEEE Transactions on Control Systems Technology
Academic article
-
Lekkas, Anastasios;
Dahl, Andreas R;
Breivik, Morten;
Fossen, Thor I..
(2013)
Continuous-Curvature Path Generation using Fermat's Spiral.
MIC Journal: Modeling, Identification and Control
Academic article
-
Candeloro, Mauro;
Lekkas, Anastasios;
Sørensen, Asgeir Johan;
Fossen, Thor I..
(2013)
Continuous Curvature Path Planning using Voronoi diagrams and Fermat's spirals.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
-
Lekkas, Anastasios;
Fossen, Thor I..
(2013)
A Quaternion-Based LOS Guidance Scheme for Path Following of AUVs.
Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Part of book/report
-
Bitar, Glenn Ivan;
Eriksen, Bjørn-Olav Holtung;
Lekkas, Anastasios M.;
Breivik, Morten.
(2019)
Energy-Optimized Hybrid Collision Avoidance for ASVs.
IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
-
Bitar, Glenn Ivan;
Breivik, Morten;
Lekkas, Anastasios M..
(2018)
Energy-Optimized Path Planning for Autonomous Ferries.
Elsevier
Academic chapter/article/Conference paper
-
Martinsen, Andreas Bell;
Lekkas, Anastasios M..
(2018)
Curved path following with deep reinforcement learning: Results from three vessel models.
IEEE conference proceedings
Academic chapter/article/Conference paper
-
Martinsen, Andreas Bell;
Lekkas, Anastasios M..
(2018)
Straight-Path Following for Underactuated Marine Vessels using Deep Reinforcement Learning.
Elsevier
Academic chapter/article/Conference paper
-
Candeloro, Mauro;
Lekkas, Anastasios M.;
Hegde, Jeevith;
Sørensen, Asgeir Johan.
(2016)
A 3D Dynamic Voronoi Diagram-Based Path-Planning System for UUVs.
IEEE conference proceedings
Academic chapter/article/Conference paper
-
Lekkas, Anastasios;
Fossen, Thor I..
(2013)
Line-of-Sight Guidance for Path Following of Marine Vehicles.
Academic chapter/article/Conference paper
Report
-
Lekkas, Anastasios M.;
Fossen, Thor I..
(2014)
Guidance and Path-Planning Systems for Autonomous Vehicles.
Norges teknisk-naturvitenskapelige universitet
Doktoravhandlinger ved NTNU (126)
Doctoral dissertation
Teaching
Courses
Media
2017
-
Academic lectureArnesen, Bent Oddvar; Lekkas, Anastasios M.; Schjølberg, Ingrid. (2017) 3D Path Following and Tracking for an Inspection Class ROV. The American Society of Mechanical Engineers Conference on Ocean & Arctic Engineering 2017 , Trondheim 2017-06-25 - 2017-06-30
2015
-
LectureLekkas, Anastasios M.; Candeloro, Mauro; Schjølberg, Ingrid. (2015) Outlier Rejection in Underwater Acoustic Position Measurements Based on Prediction Errors. IFAC 4th edition of IFAC workshop on navigation, guidance and control of underwater vehicles, , Girona 2015-04-28 - 2015-04-30
2014
-
Academic lectureLekkas, Anastasios; Fossen, Thor I.. (2014) Minimization of Cross-track and Along-track Errors for Path Tracking of Marine Underactuated Vehicles. European Control Conference (ECC'14) , Strasbourg 2014-07-24 - 2014-07-27
2012
-
Academic lectureLekkas, Anastasios; Fossen, Thor I.. (2012) A Time-Varying Lookahead Distance Guidance Law for Path Following. 9th IFAC Conference on Maneouvring and Control of Marine Craft , Arenzano 2012-09-19 - 2012-09-21