Navigation

  • Skip to Content
NTNU Home NTNU Home

ntnu.edu

  • Studies
    • Master's programmes in English
    • For exchange students
    • PhD opportunities
    • All programmes of study
    • Courses
    • Financing
    • Language requirements
    • Application process
    • Academic calendar
    • FAQ
  • Research and innovation
    • NTNU research
    • Research excellence
    • Strategic research areas
    • Innovation resources
    • PhD opportunities
  • Life and housing
    • Student in Trondheim
    • Student in Gjøvik
    • Student in Ålesund
    • For researchers
    • Life and housing
  • About NTNU
    • Contact us
    • Faculties and departments
    • Libraries
    • International researcher support
    • Vacancies
    • About NTNU
    • Maps
  1. Employees

Språkvelger

Norsk

Anastasios Lekkas

Download press photo
Download press photo
Foto:

Anastasios Lekkas

Associate Professor
Department of Engineering Cybernetics

anastasios.lekkas@ntnu.no
+4794101359 Elektro D/B2, D449, Gløshaugen
ResearchGate Google Scholar
About Publications Teaching Outreach

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

  • Chronological
  • By category
  • See all publications in Cristin

2020

  • 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
  • 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

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

  • 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 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

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; 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 M.; Fossen, Thor I.. (2014) Guidance and Path-Planning Systems for Autonomous Vehicles. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (126)
    Doctoral dissertation

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

  • 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
  • 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
  • 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

  • TTK4192 - Oppdragsplanlegging for autonome systemer
  • TK8109 - Avansert navigasjon, veiledning og styresystemer

Outreach

2017

  • Academic lecture
    Arnesen, 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

  • Lecture
    Lekkas, 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 lecture
    Lekkas, 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 lecture
    Lekkas, 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

NTNU – Norwegian University of Science and Technology

  • For employees
  • |
  • For students
  • |
  • Intranet
  • |
  • Blackboard

Studies

  • Master's programmes in English
  • For exchange students
  • PhD opportunities
  • Courses
  • Career development
  • Continuing education
  • Application process

News

  • NTNU News
  • Vacancies

About NTNU

  • About the university
  • Libraries
  • NTNU's strategy
  • Research excellence
  • Strategic research areas
  • Organizational chart

Contact

  • Contact NTNU
  • Employees
  • Find experts
  • Press contacts
  • Researcher support
  • Maps

NTNU in three cities

  • NTNU in Gjøvik
  • NTNU in Trondheim
  • NTNU in Ålesund

About this website

  • Use of cookies
  • Accessibility statement
  • Privacy policy
  • Editorial responsibility
Facebook Instagram Linkedin Snapchat Tiktok Youtube
Sign In
NTNU logo