Background and activities

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

Scientific, academic and artistic work

Journal publications

Part of book/report