Kostas Alexis

191 papers A* 36A 8B 1C 4Misc 3Journal 107Unranked 31
YearRankTypeTitle / Venue / Authors
2026 J jnl
Cross-Modal Reinforcement Learning for Navigation with Degraded Depth Measurements.
CoRR
Omkar Sawant, Luca Zanatta, Grzegorz Malczyk, Kostas Alexis
2026 J jnl
Efficient Knowledge Transfer for Jump-Starting Control Policy Learning of Multirotors Through Physics-Aware Neural Architectures.
IEEE Robotics Autom. Lett.
Welf Rehberg, Mihir Kulkarni, Philipp Weiss, Kostas Alexis
2026 J jnl
Efficient Knowledge Transfer for Jump-Starting Control Policy Learning of Multirotors through Physics-Aware Neural Architectures.
CoRR
Welf Rehberg, Mihir Kulkarni, Philipp Weiss, Kostas Alexis
2026 J jnl
OmniPlanner: Universal Exploration and Inspection Path Planning across Robot Morphologies.
CoRR
Angelos Zacharia, Mihir Dharmadhikari, Mohit Singh, Kostas Alexis
2026 J jnl
Reinforcement Learning for Active Perception in Autonomous Navigation.
CoRR
Grzegorz Malczyk, Mihir Kulkarni, Kostas Alexis
2026 J jnl
Relationship-Aware Hierarchical 3D Scene Graph for Task Reasoning.
CoRR
Albert Gassol Puigjaner, Angelos Zacharia, Kostas Alexis
2026 J jnl
Tightly-Coupled Radar-Visual-Inertial Odometry.
CoRR
Morten C. Nissov, Mohit Singh, Kostas Alexis
2026 J jnl
Towards Quadrupedal Jumping and Walking for Dynamic Locomotion Using Reinforcement Learning.
IEEE Robotics Autom. Lett.
Jørgen Anker Olsen, Lars Rønhaug Pettersen, Kostas Alexis
2025 J jnl
A Neural Network Mode for PX4 on Embedded Flight Controllers.
CoRR
Sindre M. Hegre, Welf Rehberg, Mihir Kulkarni, Kostas Alexis
2025 J jnl
Aerial Gym Simulator: A Framework for Highly Parallelized Simulation of Aerial Robots.
CoRR
Mihir Kulkarni, Welf Rehberg, Kostas Alexis
2025 J jnl
Aerial Gym Simulator: A Framework for Highly Parallelized Simulation of Aerial Robots.
IEEE Robotics Autom. Lett.
Mihir Kulkarni, Welf Rehberg, Kostas Alexis
2025 J jnl
Ariel Explores: Vision-based underwater exploration and inspection via generalist drone-level autonomy.
CoRR
Mohit Singh, Mihir Dharmadhikari, Kostas Alexis
2025 J jnl
Collaborative Exploration With a Marsupial Ground-Aerial Robot Team Through Task-Driven Map Compression.
IEEE Robotics Autom. Lett.
Angelos Zacharia, Mihir Dharmadhikari, Kostas Alexis
2025 J jnl
Collaborative Exploration with a Marsupial Ground-Aerial Robot Team through Task-Driven Map Compression.
CoRR
Angelos Zacharia, Mihir Dharmadhikari, Kostas Alexis
2025 J jnl
CompSLAM: Complementary Hierarchical Multi-Modal Localization and Mapping for Robot Autonomy in Underground Environments.
CoRR
Shehryar Khattak, Timon Homberger, Lukas Bernreiter, Julian Nubert, Olov Andersson, Roland Siegwart, Kostas Alexis, Marco Hutter
2025 A* conf
DeepVL: Dynamics and Inertial Measurements-based Deep Velocity Learning for Underwater Odometry.
ICRA
Mohit Singh, Kostas Alexis
2025 J jnl
DeepVL: Dynamics and Inertial Measurements-based Deep Velocity Learning for Underwater Odometry.
CoRR
Mohit Singh, Kostas Alexis
2025 — conf
Diffusion-based RGB-D Semantic Segmentation with Deformable Attention Transformer.
ICAR
Minh Bui, Kostas Alexis
2025 J jnl
Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions.
CoRR
Nazar Misyats, Marvin Harms, Morten C. Nissov, Martin Jacquet, Kostas Alexis
2025 — conf
IMU-Preintegrated Radar Factors for Asynchronous Radar-LiDAR-Inertial SLAM.
ICAR
Johan Hatleskog, Morten C. Nissov, Kostas Alexis
2025 J jnl
IMU-Preintegrated Radar Factors for Asynchronous Radar-LiDAR-Inertial SLAM.
CoRR
Johan Hatleskog, Morten C. Nissov, Kostas Alexis
2025 J jnl
Morphy: A Compliant and Morphologically Aware Flying Robot.
Adv. Intell. Syst.
Paolo De Petris, Morten C. Nissov, Kostas Alexis
2025 J jnl
Neural NMPC through Signed Distance Field Encoding for Collision Avoidance.
CoRR
Martin Jacquet, Marvin Harms, Kostas Alexis
2025 A* conf
Olympus: A Jumping Quadruped for Planetary Exploration Utilizing Reinforcement Learning for In-Flight Attitude Control.
ICRA
Jørgen Anker Olsen, Grzegorz Malczyk, Kostas Alexis
2025 J jnl
Olympus: A Jumping Quadruped for Planetary Exploration Utilizing Reinforcement Learning for In-Flight Attitude Control.
CoRR
Jørgen Anker Olsen, Grzegorz Malczyk, Kostas Alexis
2025 J jnl
PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry.
CoRR
Nikhil Khedekar, Kostas Alexis
2025 J jnl
Performance-guided Task-specific Optimization for Multirotor Design.
CoRR
Etor Arza, Welf Rehberg, Philipp Weiss, Mihir Kulkarni, Kostas Alexis
2025 A* conf
Safe Quadrotor Navigation Using Composite Control Barrier Functions.
ICRA
Marvin Harms, Martin Jacquet, Kostas Alexis
2025 J jnl
Safe Quadrotor Navigation using Composite Control Barrier Functions.
CoRR
Marvin Harms, Martin Jacquet, Kostas Alexis
2025 J jnl
Semantically-Driven Deep Reinforcement Learning for Inspection Path Planning.
IEEE Robotics Autom. Lett.
Grzegorz Malczyk, Mihir Kulkarni, Kostas Alexis
2025 J jnl
Semantically-driven Deep Reinforcement Learning for Inspection Path Planning.
CoRR
Grzegorz Malczyk, Mihir Kulkarni, Kostas Alexis
2025 J jnl
Semantics-aware Predictive Inspection Path Planning.
CoRR
Mihir Dharmadhikari, Kostas Alexis
2025 J jnl
Simultaneous Triggering and Synchronization of Sensors and Onboard Computers.
CoRR
Morten C. Nissov, Nikhil Khedekar, Kostas Alexis
2025 J jnl
Towards Quadrupedal Jumping and Walking for Dynamic Locomotion using Reinforcement Learning.
CoRR
Jørgen Anker Olsen, Lars Rønhaug Pettersen, Kostas Alexis
2025 J jnl
Uncertainty Aware Mapping for Vision-Based Underwater Robots.
CoRR
Abhimanyu Bhowmik, Mohit Singh, Madhushree Sannigrahi, Martin Ludvigsen, Kostas Alexis
2025 — conf
UniPilot: Enabling GPS-Denied Autonomy Across Embodiments.
ICAR
Mihir Kulkarni, Mihir Dharmadhikari, Nikhil Khedekar, Morten C. Nissov, Mohit Singh, Philipp Weiss, Kostas Alexis
2025 J jnl
UniPilot: Enabling GPS-Denied Autonomy Across Embodiments.
CoRR
Mihir Kulkarni, Mihir Dharmadhikari, Nikhil Khedekar, Morten C. Nissov, Mohit Singh, Philipp Weiss, Kostas Alexis
2025 — conf
Unified Attention Modeling for Efficient Free-Viewing and Visual Search via Shared Representations.
ICDL
Fatma Youssef Mohammed, Kostas Alexis
2025 J jnl
Unified Attention Modeling for Efficient Free-Viewing and Visual Search via Shared Representations.
CoRR
Fatma Youssef Mohammed, Kostas Alexis
2024 J jnl
Aerial Field Robotics.
CoRR
Mihir Kulkarni, Brady G. Moon, Kostas Alexis, Sebastian A. Scherer
2024 A* conf
An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry.
ICRA
Mohit Singh, Mihir Dharmadhikari, Kostas Alexis
2024 A* conf
Degradation Resilient LiDAR-Radar-Inertial Odometry.
ICRA
Morten C. Nissov, Nikhil Khedekar, Kostas Alexis
2024 J jnl
Degradation Resilient LiDAR-Radar-Inertial Odometry.
CoRR
Morten C. Nissov, Nikhil Khedekar, Kostas Alexis
2024 J jnl
Diffusion-based RGB-D Semantic Segmentation with Deformable Attention Transformer.
CoRR
Minh Bui, Kostas Alexis
2024 Misc conf
In-Flight Attitude Control of a Quadruped using Deep Reinforcement Learning.
CoRL
Tarek El-Agroudi, Finn Gross Maurer, Jørgen Anker Olsen, Kostas Alexis
2024 J jnl
Maritime Vessel Tank Inspection using Aerial Robots: Experience from the field and dataset release.
CoRR
Mihir Dharmadhikari, Nikhil Khedekar, Paolo De Petris, Mihir Kulkarni, Morten C. Nissov, Kostas Alexis
2024 J jnl
Modeling and In-flight Torso Attitude Stabilization of a Jumping Quadruped.
CoRR
Michail Papadakis, Jørgen Anker Olsen, Ioannis Poulakakis, Kostas Alexis
2024 A* conf
N-MPC for Deep Neural Network-Based Collision Avoidance exploiting Depth Images.
ICRA
Martin Jacquet, Kostas Alexis
2024 J jnl
N-MPC for Deep Neural Network-Based Collision Avoidance exploiting Depth Images.
CoRR
Martin Jacquet, Kostas Alexis
2024 A conf
Neural Control Barrier Functions for Safe Navigation.
IROS
Marvin Harms, Mihir Kulkarni, Nikhil Khedekar, Martin Jacquet, Kostas Alexis
2024 J jnl
Neural Control Barrier Functions for Safe Navigation.
CoRR
Marvin Harms, Mihir Kulkarni, Nikhil Khedekar, Martin Jacquet, Kostas Alexis
2024 A conf
Online Refractive Camera Model Calibration in Visual Inertial Odometry.
IROS
Mohit Singh, Kostas Alexis
2024 J jnl
Online Refractive Camera Model Calibration in Visual Inertial Odometry.
CoRR
Mohit Singh, Kostas Alexis
2024 J jnl
Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge.
IEEE Trans. Robotics
Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-Akbar Agha-Mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone
2024 J jnl
Probabilistic Degeneracy Detection for Point-to-Plane Error Minimization.
CoRR
Johan Hatleskog, Kostas Alexis
2024 J jnl
Probabilistic Degeneracy Detection for Point-to-Plane Error Minimization.
IEEE Robotics Autom. Lett.
Johan Hatleskog, Kostas Alexis
2024 J jnl
RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation.
IEEE Robotics Autom. Lett.
Pavel Petrácek, Kostas Alexis, Martin Saska
2024 J jnl
ROAMER: Robust Offroad Autonomy using Multimodal State Estimation with Radar Velocity Integration.
CoRR
Morten C. Nissov, Shehryar Khattak, Jeffrey A. Edlund, Curtis Padgett, Kostas Alexis, Patrick Spieler
2024 A* conf
Reinforcement Learning for Collision-free Flight Exploiting Deep Collision Encoding.
ICRA
Mihir Kulkarni, Kostas Alexis
2024 J jnl
Reinforcement Learning for Collision-free Flight Exploiting Deep Collision Encoding.
CoRR
Mihir Kulkarni, Kostas Alexis
2024 J jnl
ResiVis: A Holistic Underwater Motion Planning Approach for Robust Active Perception Under Uncertainties.
IEEE Robotics Autom. Lett.
Marios Xanthidis, Martin Skaldebø, Bent Oddvar A. Haugaløkken, Linn Danielsen Evjemo, Kostas Alexis, Eleni Kelasidi
2024 J jnl
Robust High-Speed State Estimation for Off-Road Navigation Using Radar Velocity Factors.
IEEE Robotics Autom. Lett.
Morten C. Nissov, Jeffrey A. Edlund, Patrick Spieler, Curtis Padgett, Kostas Alexis, Shehryar Khattak
2024 J jnl
Robust High-Speed State Estimation for Off-road Navigation using Radar Velocity Factors.
CoRR
Morten C. Nissov, Jeffrey A. Edlund, Patrick Spieler, Curtis Padgett, Kostas Alexis, Shehryar Khattak
2024 J jnl
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned.
Field Robotics
Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter, Marco Camurri, Shehryar Khattak, Frank Mascarich, Patrick Pfreundschuh, David Wisth, Samuel Zimmermann, Mihir Kulkarni, Victor Reijgwart, Benoît Casseau, Timon Homberger, Paolo De Petris, Lionel Ott, Wayne Tubby, Gabriel Waibel, Huan Nguyen, Cesar Cadena, Russell Buchanan, Lorenz Wellhausen, Nikhil Khedekar, Olov Andersson, Lintong Zhang, Takahiro Miki, Tung Dang, Matías Mattamala, Markus Montenegro, Konrad Meyer, Xiangyu Wu, Adrien Briod, Mark W. Mueller, Maurice F. Fallon, Roland Siegwart, Marco Hutter, Kostas Alexis
2024 J jnl
Uncertainty-aware visually-attentive navigation using deep neural networks.
Int. J. Robotics Res.
Huan Nguyen, Rasmus Eckholdt Andersen, Evangelos Boukas, Kostas Alexis
2023 J jnl
Aerial Gym - Isaac Gym Simulator for Aerial Robots.
CoRR
Mihir Kulkarni, Theodor J. L. Forgaard, Kostas Alexis
2023 J jnl
An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry.
CoRR
Mohit Singh, Mihir Dharmadhikari, Kostas Alexis
2023 — conf
Autonomous Exploration and General Visual Inspection of Ship Ballast Water Tanks Using Aerial Robots.
ICAR
Mihir Dharmadhikari, Paolo De Petris, Mihir Kulkarni, Nikhil Khedekar, Huan Nguyen, Arnt Erik Stene, Eivind Sjøvold, Kristian Solheim, Bente Gussiaas, Kostas Alexis
2023 J jnl
Autonomous Exploration and General Visual Inspection of Ship Ballast Water Tanks using Aerial Robots.
CoRR
Mihir Dharmadhikari, Paolo De Petris, Mihir Kulkarni, Nikhil Khedekar, Huan Nguyen, Arnt Erik Stene, Eivind Sjøvold, Kristian Solheim, Bente Gussiaas, Kostas Alexis
2023 J jnl
Autonomous mapping and spectroscopic analysis of distributed radiation fields using aerial robots.
Auton. Robots
Frank Mascarich, Mihir Kulkarni, Paolo De Petris, Taylor Wilson, Kostas Alexis
2023 — conf
Design and Experimental Verification of a Jumping Legged Robot for Martian Lava Tube Exploration.
ICAR
Jørgen Anker Olsen, Kostas Alexis
2023 J jnl
Design and Experimental Verification of a Jumping Legged Robot for Martian Lava Tube Exploration.
CoRR
Jørgen Anker Olsen, Kostas Alexis
2023 J jnl
Martian Lava Tube Exploration Using Jumping Legged Robots: A Concept Study.
CoRR
Jørgen Anker Olsen, Kostas Alexis
2023 J jnl
RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation in Degenerated Environments.
CoRR
Pavel Petrácek, Kostas Alexis, Martin Saska
2023 A* conf
ResiPlan: Closing the Planning-Acting Loop for Safe Underwater Navigation.
ICRA
Marios Xanthidis, Eleni Kelasidi, Kostas Alexis
2023 A conf
Semantically-Enhanced Deep Collision Prediction for Autonomous Navigation Using Aerial Robots.
IROS
Mihir Kulkarni, Huan Nguyen, Kostas Alexis
2023 J jnl
Semantically-enhanced Deep Collision Prediction for Autonomous Navigation using Aerial Robots.
CoRR
Mihir Kulkarni, Huan Nguyen, Kostas Alexis
2023 A* conf
Semantics-aware Exploration and Inspection Path Planning.
ICRA
Mihir Dharmadhikari, Kostas Alexis
2023 J jnl
Semantics-aware Exploration and Inspection Path Planning.
CoRR
Mihir Dharmadhikari, Kostas Alexis
2023 — conf
Task-Driven Compression for Collision Encoding Based on Depth Images.
ISVC (2)
Mihir Kulkarni, Kostas Alexis
2023 J jnl
Task-driven Compression for Collision Encoding based on Depth Images.
CoRR
Mihir Kulkarni, Kostas Alexis
2023 — conf
Terrain Recognition and Contact Force Estimation Through a Sensorized Paw for Legged Robots.
ICAR
Aleksander Vangen, Tejal Barnwal, Jørgen Anker Olsen, Kostas Alexis
2023 J jnl
Terrain Recognition and Contact Force Estimation through a Sensorized Paw for Legged Robots.
CoRR
Aleksander Vangen, Tejal Barnwal, Jørgen Anker Olsen, Kostas Alexis
2022 A* conf
Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots.
ICRA
Mihir Kulkarni, Mihir Dharmadhikari, Marco Tranzatto, Samuel Zimmermann, Victor Reijgwart, Paolo De Petris, Huan Nguyen, Nikhil Khedekar, Christos Papachristos, Lionel Ott, Roland Siegwart, Marco Hutter, Kostas Alexis
2022 J jnl
CERBERUS in the DARPA Subterranean Challenge.
Sci. Robotics
Marco Tranzatto, Takahiro Miki, Mihir Dharmadhikari, Lukas Bernreiter, Mihir Kulkarni, Frank Mascarich, Olov Andersson, Shehryar Khattak, Marco Hutter, Roland Siegwart, Kostas Alexis
2022 J jnl
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge.
CoRR
Marco Tranzatto, Frank Mascarich, Lukas Bernreiter, Carolina Godinho, Marco Camurri, Shehryar Khattak, Tung Dang, Victor Reijgwart, Johannes Loeje, David Wisth, Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka, Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini, Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo De Petris, Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch, Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius, Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan I. Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark W. Mueller, Maurice F. Fallon, Kostas Alexis
2022 J jnl
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge.
Field Robotics
Marco Tranzatto, Frank Mascarich, Lukas Bernreiter, Carolina Godinho, Marco Camurri, Shehryar Khattak, Tung Dang, Victor Reijgwart, Johannes Loeje, David Wisth, Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka, Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini, Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo De Petris, Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch, Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius, Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan I. Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark W. Mueller, Maurice F. Fallon, Kostas Alexis
2022 J jnl
Collision-tolerant Aerial Robots: A Survey.
CoRR
Paolo De Petris, Stephen J. Carlson, Christos Papachristos, Kostas Alexis
2022 A conf
MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation.
IROS
Nikhil Khedekar, Mihir Kulkarni, Kostas Alexis
2022 — conf
Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments.
SSRR
Paolo De Petris, Shehryar Khattak, Mihir Dharmadhikari, Gabriel Waibel, Huan Nguyen, Markus Montenegro, Nikhil Khedekar, Kostas Alexis, Marco Hutter
2022 J jnl
Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments.
CoRR
Paolo De Petris, Shehryar Khattak, Mihir Dharmadhikari, Gabriel Waibel, Huan Nguyen, Markus Montenegro, Nikhil Khedekar, Kostas Alexis, Marco Hutter
2022 A* conf
Motion Primitives-based Navigation Planning using Deep Collision Prediction.
ICRA
Huan Nguyen, Sondre Holm Fyhn, Paolo De Petris, Kostas Alexis
2022 J jnl
Motion Primitives-based Navigation Planning using Deep Collision Prediction.
CoRR
Huan Nguyen, Sondre Holm Fyhn, Paolo De Petris, Kostas Alexis
2022 J jnl
Present and Future of SLAM in Extreme Underground Environments.
CoRR
Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-Akbar Agha-Mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone
2022 J jnl
RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration.
CoRR
Paolo De Petris, Huan Nguyen, Mihir Dharmadhikari, Mihir Kulkarni, Nikhil Khedekar, Frank Mascarich, Kostas Alexis
2022 A conf
Risk-aware Motion Planning for Collision-tolerant Aerial Robots subject to Localization Uncertainty.
IROS
Paolo De Petris, Mihir Dharmadhikari, Huan Nguyen, Kostas Alexis
2022 J jnl
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned.
CoRR
Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter, Marco Camurri, Shehryar Khattak, Frank Mascarich, Patrick Pfreundschuh, David Wisth, Samuel Zimmermann, Mihir Kulkarni, Victor Reijgwart, Benoît Casseau, Timon Homberger, Paolo De Petris, Lionel Ott, Wayne Tubby, Gabriel Waibel, Huan Nguyen, Cesar Cadena, Russell Buchanan, Lorenz Wellhausen, Nikhil Khedekar, Olov Andersson, Lintong Zhang, Takahiro Miki, Tung Dang, Matías Mattamala, Markus Montenegro, Konrad Meyer, Xiangyu Wu, Adrien Briod, Mark W. Mueller, Maurice F. Fallon, Roland Siegwart, Marco Hutter, Kostas Alexis
2021 A* conf
Autonomous Distributed 3D Radiation Field Estimation for Nuclear Environment Characterization.
ICRA
Frank Mascarich, Paolo De Petris, Huan Nguyen, Nikhil Khedekar, Kostas Alexis
2021 J jnl
Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots.
CoRR
Mihir Kulkarni, Mihir Dharmadhikari, Marco Tranzatto, Samuel Zimmermann, Victor Reijgwart, Paolo De Petris, Huan Nguyen, Nikhil Khedekar, Christos Papachristos, Lionel Ott, Roland Siegwart, Marco Hutter, Kostas Alexis
2021 — conf
Field-hardened Resilient Robotic Autonomy.
ROBOVIS
Kostas Alexis
2021 J jnl
Forceful Aerial Manipulation Based on an Aerial Robotic Chain: Hybrid Modeling and Control.
IEEE Robotics Autom. Lett.
Huan Nguyen, Kostas Alexis
2021 A* conf
Hypergame-based Adaptive Behavior Path Planning for Combined Exploration and Visual Search.
ICRA
Mihir Dharmadhikari, Harshal Deshpande, Tung Dang, Kostas Alexis
2021 — conf
Model Predictive Control for Micro Aerial Vehicles: A Survey.
ECC
Huan Nguyen, Mina Kamel, Kostas Alexis, Roland Siegwart
2021 A* conf
Online Recommendation-based Convolutional Features for Scale-Aware Visual Tracking.
ICRA
Ran Duan, Changhong Fu, Kostas Alexis, Erdal Kayacan
2021 A* conf
Resilient Collision-tolerant Navigation in Confined Environments.
ICRA
Paolo De Petris, Huan Nguyen, Mihir Kulkarni, Frank Mascarich, Kostas Alexis
2021 — conf
Resource-aware Online Parameter Adaptation for Computationally -constrained Visual-Inertial Navigation Systems.
ICAR
Pranay Mathur, Nikhil Khedekar, Kostas Alexis
2021 J jnl
Resource-aware Online Parameter Adaptation for Computationally-constrained Visual-Inertial Navigation Systems.
CoRR
Pranay Mathur, Nikhil Khedekar, Kostas Alexis
2020 B conf
Anomalous Motion Detection On Highway Using Deep Learning.
ICIP
Harpreet Singh, Emily M. Hand, Kostas Alexis
2020 J jnl
Anomalous Motion Detection on Highway Using Deep Learning.
CoRR
Harpreet Singh, Emily M. Hand, Kostas Alexis
2020 J jnl
Appendix for the Motion Primitives-based Path Planning for Fast and Agile Exploration Method.
CoRR
Mihir Dharmadhikari, Tung Dang, Kostas Alexis
2020 J jnl
Autonomous Aerial Robotic Surveying and Mapping with Application to Construction Operations.
CoRR
Huan Nguyen, Frank Mascarich, Tung Dang, Kostas Alexis
2020 — conf
Collision-tolerant Autonomous Navigation through Manhole-sized Confined Environments.
SSRR
Paolo De Petris, Huan Nguyen, Tung Dang, Frank Mascarich, Kostas Alexis
2020 J jnl
Graph-based subterranean exploration path planning using aerial and legged robots.
J. Field Robotics
Tung Dang, Marco Tranzatto, Shehryar Khattak, Frank Mascarich, Kostas Alexis, Marco Hutter
2020 J jnl
Keyframe-based thermal-inertial odometry.
J. Field Robotics
Shehryar Khattak, Christos Papachristos, Kostas Alexis
2020 A* conf
Learning-based Path Planning for Autonomous Exploration of Subterranean Environments.
ICRA
Russell Reinhart, Tung Dang, Emily M. Hand, Christos Papachristos, Kostas Alexis
2020 J jnl
Model Predictive Control for Micro Aerial Vehicles: A Survey.
CoRR
Huan Nguyen, Mina Kamel, Kostas Alexis, Roland Siegwart
2020 A* conf
Motion Primitives-based Path Planning for Fast and Agile Exploration using Aerial Robots.
ICRA
Mihir Dharmadhikari, Tung Dang, Lukas Solanka, Johannes Loje, Huan Nguyen, Nikhil Khedekar, Kostas Alexis
2020 — conf
Optical Flow Based Background Subtraction with a Moving Camera: Application to Autonomous Driving.
ISVC (2)
Sotirios Diamantas, Kostas Alexis
2020 A* conf
The Reconfigurable Aerial Robotic Chain: Modeling and Control.
ICRA
Huan Nguyen, Tung Dang, Kostas Alexis
2020 J jnl
Towards a Science of Resilient Robotic Autonomy.
CoRR
Kostas Alexis
2020 J jnl
Visual-Thermal Camera Dataset Release and Multi-Modal Alignment without Calibration Information.
CoRR
Frank Mascarich, Kostas Alexis
2019 J jnl
Are State-of-the-art Visual Place Recognition Techniques any Good for Aerial Robotics?
CoRR
Mubariz Zaffar, Ahmad Khaliq, Shoaib Ehsan, Michael Milford, Kostas Alexis, Klaus D. McDonald-Maier
2019 A* conf
Contact-based Navigation Path Planning for Aerial Robots.
ICRA
Nikhil Khedekar, Frank Mascarich, Christos Papachristos, Tung Dang, Kostas Alexis
2019 A* conf
Distributed Radiation Field Estimation and Informative Path Planning for Nuclear Environment Characterization.
ICRA
Frank Mascarich, Christos Papachristos, Taylor Wilson, Kostas Alexis
2019 — conf
Explore Locally, Plan Globally: A Path Planning Framework for Autonomous Robotic Exploration in Subterranean Environments.
ICAR
Tung Dang, Shehryar Khattak, Frank Mascarich, Kostas Alexis
2019 A conf
Graph-based Path Planning for Autonomous Robotic Exploration in Subterranean Environments.
IROS
Tung Dang, Frank Mascarich, Shehryar Khattak, Christos Papachristos, Kostas Alexis
2019 A* conf
Keyframe-based Direct Thermal-Inertial Odometry.
ICRA
Shehryar Khattak, Christos Papachristos, Kostas Alexis
2019 J jnl
Keyframe-based Direct Thermal-Inertial Odometry.
CoRR
Shehryar Khattak, Christos Papachristos, Kostas Alexis
2019 J jnl
Localization uncertainty-aware autonomous exploration and mapping with aerial robots using receding horizon path-planning.
Auton. Robots
Christos Papachristos, Frank Mascarich, Shehryar Khattak, Tung Dang, Kostas Alexis
2019 J jnl
Marker based Thermal-Inertial Localization for Aerial Robots in Obscurant Filled Environments.
CoRR
Shehryar Khattak, Christos Papachristos, Kostas Alexis
2019 — conf
Resilient Autonomous Exploration and Mapping of Underground Mines using Aerial Robots.
ICAR
Kostas Alexis
2019 J jnl
The Reconfigurable Aerial Robotic Chain: Shape and Motion Planning.
CoRR
Mihir Kulkarni, Huan Nguyen, Kostas Alexis
2019 J jnl
Vision-Depth Landmarks and Inertial Fusion for Navigation in Degraded Visual Environments.
CoRR
Shehryar Khattak, Christos Papachristos, Kostas Alexis
2019 J jnl
Visual-Thermal Landmarks and Inertial Fusion for Navigation in Degraded Visual Environments.
CoRR
Shehryar Khattak, Christos Papachristos, Kostas Alexis
2018 J jnl
Design and Control of an Aerial Manipulator for Contact-based Inspection.
CoRR
Varun Nayak, Christos Papachristos, Kostas Alexis
2018 J jnl
Lévy Flight Foraging Hypothesis-based Autonomous Memoryless Search Under Sparse Rewards.
CoRR
Christos Papachristos, Kostas Alexis
2018 Misc conf
Marker Based Thermal-Inertial Localization for Aerial Robots in Obscurant Filled Environments.
ISVC
Shehryar Khattak, Christos Papachristos, Kostas Alexis
2018 J jnl
Modeling, Control, State Estimation and Path Planning Methods for Autonomous Multirotor Aerial Robots.
Found. Trends Robotics
Christos Papachristos, Tung Dang, Shehryar Khattak, Frank Mascarich, Nikhil Khedekar, Kostas Alexis
2018 J jnl
Optical Flow Based Background Subtraction with a Moving Camera: Application to Autonomous Driving.
CoRR
Sotirios Diamantas, Kostas Alexis
2018 A* conf
Radiation Source Localization in GPS-Denied Environments Using Aerial Robots.
ICRA
Frank Mascarich, Taylor Wilson, Christos Papachristos, Kostas Alexis
2018 J jnl
Receding horizon path planning for 3D exploration and surface inspection.
Auton. Robots
Andreas Bircher, Mina Kamel, Kostas Alexis, Helen Oleynikova, Roland Siegwart
2018 Misc conf
Vision-Depth Landmarks and Inertial Fusion for Navigation in Degraded Visual Environments.
ISVC
Shehryar Khattak, Christos Papachristos, Kostas Alexis
2018 A* conf
Visual Saliency-Aware Receding Horizon Autonomous Exploration with Application to Aerial Robotics.
ICRA
Tung Dang, Christos Papachristos, Kostas Alexis
2018 J jnl
Visual-Inertial Odometry-enhanced Geometrically Stable ICP for Mapping Applications using Aerial Robots.
CoRR
Tung Dang, Shehryar Khattak, Christos Papachristos, Kostas Alexis
2017 J jnl
Aerial Drop of Robots and Sensors for Optimal Area Coverage.
CoRR
Kostas Alexis
2017 J jnl
An incremental sampling-based approach to inspection planning: the rapidly exploring random tree of trees.
Robotica
Andreas Bircher, Kostas Alexis, Ulrich Schwesinger, Sammy Omari, Michael Burri, Roland Siegwart
2017 J jnl
Design of small hand-launched solar-powered UAVs: From concept study to a multi-day world endurance record flight.
J. Field Robotics
Philipp Oettershagen, Amir Melzer, Thomas Mantel, Konrad Rudin, Thomas Stastny, Bartosz Wawrzacz, Timo Hinzmann, Stefan Leutenegger, Kostas Alexis, Roland Siegwart
2017 J jnl
Integrated Data Management for a Fleet of Search-and-rescue Robots.
J. Field Robotics
Haris Balta, Janusz Bedkowski, Shashank Govindaraj, Karol Majek, Pawel Musialik, Daniel Serrano, Kostas Alexis, Roland Siegwart, Geert De Cubber
2017 A* conf
Model-based transition optimization for a VTOL tailsitter.
ICRA
Sebastian Verling, Thomas Stastny, Gregory Battig, Kostas Alexis, Roland Siegwart
2017 J jnl
Realizing the Aerial Robotic Worker for Inspection Operations.
CoRR
Kostas Alexis
2017 J jnl
Technical Report: Optimal Surveillance of Dynamic Parades using Teams of Aerial Robots.
CoRR
Kostas Alexis
2017 J jnl
Towards Robotically Supported Decommissioning of Nuclear Sites.
CoRR
Frank Mascarich, Taylor Wilson, Tung Dang, Shehryar Khattak, Christos Papachristos, Kostas Alexis
2017 A* conf
Uncertainty-aware receding horizon exploration and mapping using aerial robots.
ICRA
Christos Papachristos, Shehryar Khattak, Kostas Alexis
2016 — conf
Adaptive high order sliding mode control for relative positioning and trajectory tracking of spacecraft formation flying.
MED
Luis Rodolfo García Carrillo, Filiberto Muñoz Palacios, Eduardo Steed Espinoza Quesada, Kostas Alexis
2016 J jnl
Aerial robotic contact-based inspection: planning and control.
Auton. Robots
Kostas Alexis, Georgios Darivianakis, Michael Burri, Roland Siegwart
2016 — conf
Augmented reality-enhanced structural inspection using aerial robots.
ISIC
Christos Papachristos, Kostas Alexis
2016 — conf
Change Detection and Object Recognition Using Aerial Robots.
ISVC (1)
Shehryar Khattak, Christos Papachristos, Kostas Alexis
2016 A conf
Design and modeling of dexterous aerial manipulator.
IROS
Mina Kamel, Kostas Alexis, Roland Siegwart
2016 J jnl
Distributed Infrastructure Inspection Path Planning subject to Time Constraints.
CoRR
Kostas Alexis, Christos Papachristos, Roland Siegwart, Anthony Tzes
2016 J jnl
Dual-Authority Thrust-Vectoring of a Tri-TiltRotor employing Model Predictive Control.
J. Intell. Robotic Syst.
Christos Papachristos, Kostas Alexis, Anthony Tzes
2016 — ch.
Flying Robots.
Springer Handbook of Robotics, 2nd Ed.
Stefan Leutenegger, Christoph Hürzeler, Amanda K. Stowers, Kostas Alexis, Markus W. Achtelik, David Lentink, Paul Y. Oh, Roland Siegwart
2016 A* conf
Full Attitude Control of a VTOL tailsitter UAV.
ICRA
Sebastian Verling, Basil Weibel, Maximilian Boosfeld, Kostas Alexis, Michael Burri, Roland Siegwart
2016 A* conf
Receding horizon "next-best-view" planner for 3D exploration.
ICRA
Andreas Bircher, Mina Kamel, Kostas Alexis, Helen Oleynikova, Roland Siegwart
2016 J jnl
Robust Model Predictive Flight Control of Unmanned Rotorcrafts.
J. Intell. Robotic Syst.
Kostas Alexis, Christos Papachristos, Roland Siegwart, Anthony Tzes
2016 J jnl
Three-dimensional coverage path planning via viewpoint resampling and tour optimization for aerial robots.
Auton. Robots
Andreas Bircher, Mina Kamel, Kostas Alexis, Michael Burri, Philipp Oettershagen, Sammy Omari, Thomas Mantel, Roland Siegwart
2015 A* conf
A solar-powered hand-launchable UAV for low-altitude multi-day continuous flight.
ICRA
Philipp Oettershagen, Amir Melzer, Thomas Mantel, Konrad Rudin, Rainer Lotz, Dieter Siebenmann, Stefan Leutenegger, Kostas Alexis, Roland Siegwart
2015 — conf
Autonomous Robotic Aerial Tracking, Avoidance, and Seeking of a Mobile Human Subject.
ISVC (1)
Christos Papachristos, Dimos Tzoumanikas, Kostas Alexis, Anthony Tzes
2015 C conf
Fast nonlinear model predictive control for multicopter attitude tracking on SO(3).
CCA
Mina Kamel, Kostas Alexis, Markus Achtelik, Roland Siegwart
2015 — conf
Inspection Operations Using an Aerial Robot Powered-over-Tether by a Ground Vehicle.
ISVC (1)
Lida Zikou, Christos Papachristos, Kostas Alexis, Anthony Tzes
2015 — conf
Long-Endurance Sensing and Mapping Using a Hand-Launchable Solar-Powered UAV.
FSR
Philipp Oettershagen, Thomas Stastny, Thomas Mantel, Amir Melzer, Konrad Rudin, Pascal Gohl, Gabriel Agamennoni, Kostas Alexis, Roland Siegwart
2015 — conf
Sampling-based receding horizon collision-free control for a class of Micro Aerial Vehicles.
MED
Kostas Alexis, Christos Papachristos, Roland Siegwart, Anthony Tzes
2015 A* conf
Structural inspection path planning via iterative viewpoint resampling with application to aerial robotics.
ICRA
Andreas Bircher, Kostas Alexis, Michael Burri, Philipp Oettershagen, Sammy Omari, Thomas Mantel, Roland Siegwart
2014 A* conf
Efficient force exertion for aerial robotic manipulation: Exploiting the thrust-vectoring authority of a tri-tiltrotor UAV.
ICRA
Christos Papachristos, Kostas Alexis, Anthony Tzes
2014 — conf
Explicit model predictive control and L1-navigation strategies for fixed-wing UAV path tracking.
MED
Philipp Oettershagen, Amir Melzer, Stefan Leutenegger, Kostas Alexis, Roland Siegwart
2014 A* conf
Hybrid predictive control for aerial robotic physical interaction towards inspection operations.
ICRA
Georgios Darivianakis, Kostas Alexis, Michael Burri, Roland Siegwart
2014 — conf
Robust explicit model predictive flight control of unmanned rotorcrafts: Design and experimental evaluation.
ECC
Kostas Alexis, Christos Papachristos, Roland Siegwart, Anthony Tzes
2014 C conf
Robust state estimation for small unmanned airplanes.
CCA
Stefan Leutenegger, Amir Melzer, Kostas Alexis, Roland Siegwart
2013 A conf
AIRobots: Innovative aerial service robots for remote inspection by contact.
IROS
Christoph Hürzeler, Roberto Naldi, Vincenzo Lippiello, Raffaella Carloni, Janosch Nikolic, Kostas Alexis, Lorenzo Marconi, Roland Siegwart
2013 A* conf
Configurable real-time simulation suite for coaxial rotor UAVs.
ICRA
Christoph Hürzeler, Kostas Alexis, Roland Siegwart
2013 — conf
Explicit constrained optimal trajectory control of an unmanned coaxial rotorcraft.
MED
Christoph Hürzeler, Kostas Alexis, Roland Siegwart
2013 — conf
Hybrid model predictive flight mode conversion control of unmanned Quad-TiltRotors.
ECC
Christos Papachristos, Kostas Alexis, Anthony Tzes
2013 A* conf
Hybrid modeling and control of a coaxial unmanned rotorcraft interacting with its environment through contact.
ICRA
Kostas Alexis, Christoph Hürzeler, Roland Siegwart
2013 C conf
Linear quadratic optimal trajectory-tracking control of a longitudinal thrust vectoring-enabled unmanned Tri-TiltRotor.
IECON
Christos Papachristos, Kostas Alexis, Anthony Tzes
2013 A* conf
Model predictive hovering-translation control of an unmanned Tri-TiltRotor.
ICRA
Christos Papachristos, Kostas Alexis, Anthony Tzes
2013 — conf
Trajectory control of an unmanned Tri-TiltRotor in hover flight via direct longitudinal actuation.
MED
Christos Papachristos, Kostas Alexis, Anthony Tzes
2013 — conf
Unmanned coaxial rotorcraft force and position control for physical interaction through contact.
MED
Kostas Alexis, Christoph Hürzeler, Roland Siegwart
2012 A* conf
Revisited Dos Samara Unmanned Aerial Vehicle: Design and control.
ICRA
Kostas Alexis, Anthony Tzes
2011 — conf
Design and experimental attitude control of an unmanned Tilt-Rotor aerial vehicle.
ICAR
Christos Papachristos, Kostas Alexis, Anthony Tzes
2010 — conf
A Constrained Finite Time Optimal Controller for the Diving and Steering Problem of an Autonomous Underwater Vehicle.
ICINCO (2)
George Nikolakopoulos, Nikolaos J. Roussos, Kostas Alexis
2010 C conf
Constrained optimal attitude control of a quadrotor helicopter subject to wind-gusts: Experimental studies.
ACC
Kostas Alexis, George Nikolakopoulos, Anthony Tzes
2010 A* conf
Design and experimental verification of a Constrained Finite Time Optimal control scheme for the attitude control of a Quadrotor Helicopter subject to wind gusts.
ICRA
Kostas Alexis, George Nikolakopoulos, Anthony Tzes