2024
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RobotDART: a versatile robot simulator for robotics and machine learning researchers.
Konstantinos Chatzilygeroudis, Dionis Totsila, and Jean-Baptiste Mouret.
Journal of Open Source Software 9(102).
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Optimizing doubly stochastic matrices for average consensus through swarm and evolutionary algorithms.
Panos K Syriopoulos, Konstantinos I Chatzilygeroudis, Nektarios G Kalampalikis, and Michael N Vrahatis.
Annals of Mathematics and Artificial Intelligence.
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Gait Optimization for Legged Systems Through Mixed Distribution Cross-Entropy Optimization.
Ioannis Tsikelis and Konstantinos Chatzilygeroudis.
IEEE-RAS International Conference on Humanoid Robots (Humanoids).
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Effective Kinodynamic Planning and Exploration through Quality Diversity and Trajectory Optimization.
Konstantinos Asimakopoulos, Aristeidis Androutsopoulos, Michael Vrahatis, and Konstantinos Chatzilygeroudis.
The 18th Learning and Intelligent Optimization Conference (LION).
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Reactive optimal motion planning to anywhere in the presence of moving obstacles.
Panagiotis Rousseas, Charalampos Bechlioulis, and Kostas Kyriakopoulos.
International Journal of Robotics Research 43(13).
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Motion Coordination of Multiple Autonomous Mobile Robots under Hard and Soft Constraints.
Spyridon Anogiatis, Panagiotis S. Trakas, and Charalampos P. Bechlioulis.
Electronics (Switzerland) 13(11).
All Open Access, Gold Open Access.
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Learning to Execute Timed-Temporal-Logic Navigation Tasks under Input Constraints in Obstacle-Cluttered Environments †.
Fotios C. Tolis, Panagiotis S. Trakas, Taxiarchis-Foivos Blounas, Christos K. Verginis, and Charalampos P. Bechlioulis.
Robotics 13(5).
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Neural Network Iterative Learning for SISO Non-Affine Control Systems.
Christos Vlachos, Fotios Tolis, George C. Karras, and Charalampos P. Bechlioulis.
Electronics (Switzerland) 13(8).
All Open Access, Gold Open Access.
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Adaptive Performance Control for Input Constrained MIMO Nonlinear Systems.
Panagiotis S. Trakas and Charalampos P. Bechlioulis.
IEEE Transactions on Systems, Man, and Cybernetics: Systems.
All Open Access, Hybrid Gold Open Access.
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Robust Distributed Containment Control with Adaptive Performance and Collision Avoidance for Multi-Agent Systems.
Charalampos P. Bechlioulis.
Electronics (Switzerland) 13(8).
All Open Access, Gold Open Access.
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Trajectory Tracking with Obstacle Avoidance for Nonholonomic Mobile Robots with Diamond-Shaped Velocity Constraints and Output Performance Specifications.
Panagiotis S. Trakas, Spyridon I. Anogiatis, and Charalampos P. Bechlioulis.
Sensors 24(14).
All Open Access, Gold Open Access.
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A Tube-Based Reinforcement Learning Approach for Optimal Motion Planning in Unknown Workspaces.
Panagiotis Rousseas, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE International Conference on Robotics and Automation.
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Formation Control of Nonlinear Multi-Agent Systems with Nested Input Saturation.
Panagiotis S. Trakas, Andreas Tantoulas, and Charalampos P. Bechlioulis.
Applied Sciences (Switzerland) 14(1).
All Open Access, Gold Open Access.
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Multi-Robot Exploration Employing Harmonic Map Transformations.
Taxiarchis-Foivos Blounas and Charalampos P. Bechlioulis.
Applied Sciences (Switzerland) 14(8).
All Open Access, Gold Open Access.
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Decentralized Navigation with Optimality for Multiple Holonomic Agents in Simply Connected Workspaces.
Dimitrios Kotsinis and Charalampos P. Bechlioulis.
Sensors 24(10).
All Open Access, Gold Open Access.
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2023
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Online Damage Recovery for Physical Robots with Hierarchical Quality-Diversity.
Maxime Allard, Simón C. Smith, Konstantinos Chatzilygeroudis, Bryan Lim, and Antoine Cully.
ACM Transactions on Evolutionary Learning and Optimization.
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Self-Correcting Quadratic Programming-Based Robot Control.
Farshad Khadivar*, Konstantinos Chatzilygeroudis*, and Aude Billard.
IEEE Transactions on Systems, Man, and Cybernetics: Systems.
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Evolving Dynamic Locomotion Policies in Minutes.
Konstantinos Chatzilygeroudis, Constantinos Tsakonas, and Michael Vrahatis.
The Fourteenth International Conference on Information, Intelligence, Systems and Applications (IISA 2023).
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Effective Skill Learning via Autonomous Goal Representation Learning.
Constantinos Tsakonas and Konstantinos Chatzilygeroudis.
The Fourteenth International Conference on Information, Intelligence, Systems and Applications (IISA 2023).
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Fast and Robust Constrained Optimization via Evolutionary and Quadratic Programming.
Konstantinos Chatzilygeroudis and Michael Vrahatis.
The 17th Learning and Intelligent Optimization Conference (LION).
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End-to-End Stable Imitation Learning via Autonomous Neural Dynamic Policies.
Dionis Totsila, Konstantinos Chatzilygeroudis, Denis Hadjivelichkov, Valerio Modugno, Ioannis Hatzilygeroudis, and Dimitrios Kanoulas.
Life-Long Learning with Human Help (L3H2) Workshop, at ICRA.
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Control of Nonlinear Systems Under Multiple Time-Varying Output Constraints: A Single Funnel Approach.
Farhad Mehdifar, Lars Lindemann, Charalampos P. Bechlioulis, and Dimos V. Dimarogonas.
IEEE Conference on Decision and Control.
All Open Access, Green Open Access.
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A Continuous Off-Policy Reinforcement Learning Scheme for Optimal Motion Planning in Simply-Connected Workspaces.
Panagiotis Rousseas, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE International Conference on Robotics and Automation.
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Optimal Prescribed Performance Control for Euler-Lagrange Systems.
Ioanna Malli, Christos Vlachos, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE 11th International Conference on Systems and Control, ICSC 2023.
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Inducing Optimality in Prescribed Performance Control for Uncertain Euler–Lagrange Systems.
Christos Vlachos, Ioanna Malli, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
Applied Sciences (Switzerland) 13(21).
All Open Access, Gold Open Access.
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Reactive optimal motion planning for a class of holonomic planar agents using reinforcement learning with provable guarantees.
Panagiotis Rousseas, Charalampos Bechlioulis, and Kostas Kyriakopoulos.
Frontiers in Robotics and AI.
All Open Access, Gold Open Access, Green Open Access.
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A Reference Governor with Adaptive Performance for Quadrotors under Safety Constraints.
Panagiotis S. Trakas, Andreas Tantoulas, and Charalampos P. Bechlioulis.
Machines 11(11).
All Open Access, Gold Open Access.
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Design and Implementation of an Energy-Efficient Vehicle Platoon Control Algorithm Using Prescribed Performance and Extremum Seeking Control.
Andreas Katsanikakis and Charalampos P. Bechlioulis.
Applied Sciences (Switzerland) 13(9).
All Open Access, Gold Open Access.
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Navigation of Multiple Disk-Shaped Robots with Independent Goals within Obstacle-Cluttered Environments.
Panagiotis Vlantis, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
Sensors 23(1).
All Open Access, Gold Open Access, Green Open Access.
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Neural Network-Based Iterative Learning for Uncertain Non-Affine Dynamical Systems.
Christos Vlachos, Fotios Tolis, and Charalampos P. Bechlioulis.
IEEE 11th International Conference on Systems and Control, ICSC 2023.
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Resilient Integral Control for Regulating Systems with Convex Input Constraints.
George C. Konstantopoulos and Charalampos Bechlioulis.
IEEE Conference on Decision and Control.
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Robust Trajectory Tracking Control for Constrained Small Fixed-Wing Aerial Vehicles with Adaptive Prescribed Performance.
Panagiotis S. Trakas and Charalampos P. Bechlioulis.
Applied Sciences (Switzerland) 13(13).
All Open Access, Gold Open Access.
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State-Feedback Optimal Motion Planning in the Presence of Obstacles.
Panagiotis Rousseas, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE Robotics and Automation Letters 8(12).
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Robot Navigation in Complex Workspaces Employing Harmonic Maps and Adaptive Artificial Potential Fields.
Panagiotis Vlantis, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
Sensors 23(9).
All Open Access, Gold Open Access, Green Open Access.
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2-D Directed Formation Control Based on Bipolar Coordinates.
Farhad Mehdifar, Charalampos P. Bechlioulis, Julien M. Hendrickx, and Dimos V. Dimarogonas.
IEEE Transactions on Automatic Control 68(7).
All Open Access, Green Open Access.
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Robust Adaptive Prescribed Performance Control for Unknown Nonlinear Systems With Input Amplitude and Rate Constraints.
Panagiotis S. Trakas and Charalampos P. Bechlioulis.
IEEE Control Systems Letters.
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Reinforcement Learning-Based Optimal Multiple Waypoint Navigation.
Christos Vlachos, Panagiotis Rousseas, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE International Conference on Robotics and Automation.
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Inducing Optimality in Prescribed Performance Control for Uncertain Euler–Lagrange Systems.
Christos Vlachos, Ioanna Malli, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
Applied Sciences 13(21).
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2022
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Behavior Policy Learning: Learning Multi-Stage Tasks via Solution Sketches and Model-Based Controllers.
Konstantinos Tsinganos*, Konstantinos Chatzilygeroudis*, Denis Hadjivelichkov, Theodoros Komninos, Evangelos Dermatas, and Dimitrios Kanoulas.
Frontiers in Robotics and AI.
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Skill-based Multi-objective Reinforcement Learning of Industrial Robot Tasks with Planning and Knowledge Integration.
Matthias Mayr, Faseeh Ahmad, Konstantinos Chatzilygeroudis, Luigi Nardi, and Volker Krueger.
IEEE International Conference on Robotics and Biomimetics (ROBIO).
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Learning Skill-based Industrial Robot Tasks with User Priors.
Matthias Mayr, Carl Hvarfner, Konstantinos Chatzilygeroudis, Luigi Nardi, and Volker Krueger.
IEEE International Conference on Automation Science and Engineering (CASE).
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Hierarchical Quality-Diversity for Online Damage Recovery.
Maxime Allard, Simón C. Smith, Konstantinos Chatzilygeroudis, and Antoine Cully.
The Genetic and Evolutionary Computation Conference (GECCO).
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A Brief Survey of Sim2Real Methods for Robot Learning.
Konstantinos Dimitropoulos, Ioannis Hatzilygeroudis, and Konstantinos Chatzilygeroudis.
31st International Conference on Robotics in Alpe-Adria-Danube Region (RAAD).
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Combining Planning, Reasoning and Reinforcement Learning to solve Industrial Robot Tasks.
Matthias Mayr, Faseeh Ahmad, Konstantinos Chatzilygeroudis, Luigi Nardi, and Volker Krueger.
2nd Workshop on Trends and Advances in Machine Learning and Automated Reasoning for Intelligent Robots and Systems, at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
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How to Set Up & Learn New Robot Tasks with Explainable Behaviors?.
Matthias Mayr, Faseeh Ahmad, Konstantinos Chatzilygeroudis, Luigi Nardi, and Volker Krueger.
European Robotics Forum.
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Image Based Visual Servoing for Floating Base Mobile Manipulator Systems with Prescribed Performance under Operational Constraints.
George C. Karras, George K. Fourlas, Alexandros Nikou, Charalampos P. Bechlioulis, and Shahab Heshmati-Alamdari.
Machines 10(7).
All Open Access, Gold Open Access.
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Funnel Control Under Hard and Soft Output Constraints.
Farhad Mehdifar, Charalampos P. Bechlioulis, and Dimos V. Dimarogonas.
IEEE Conference on Decision and Control.
All Open Access, Green Open Access.
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Decentralized Global Connectivity Maintenance for Multi-agent Systems using Prescribed Performance Average Consensus Protocols.
Panagiotis S. Trakas, Charalampos P. Bechlioulis, and George A. Rovithakis.
2022 European Control Conference, ECC 2022.
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Robust dynamic average consensus with prescribed transient and steady state performance.
Charis J. Stamouli, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
Automatica.
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Mutli-Robot Cooperative Object Transportation with Guaranteed Safety and Convergence in Planar Obstacle Cluttered Workspaces via Configuration Space Decomposition.
Panagiotis Vlantis, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
Robotics 11(6).
All Open Access, Gold Open Access.
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Robust Prescribed Performance Control and Adaptive Learning for the Longitudinal Dynamics of Fixed-Wing UAVs.
S. Tzeranis, P.S. Trakas, X. Papageorgiou, K.J. Kyriakopoulos, and C.P. Bechlioulis.
10th International Conference on Systems and Control, ICSC 2022.
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Control-Enabling Adaptive Nonlinear System Identification.
Konstantinos Zisis, Charalampos P. Bechlioulis, and George A. Rovithakis.
IEEE Transactions on Automatic Control 67(7).
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Optimal Motion Planning in Unknown Workspaces Using Integral Reinforcement Learning.
Panagiotis Rousseas, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE Robotics and Automation Letters 7(3).
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A Vision-Based Motion Control Framework for Water Quality Monitoring Using an Unmanned Aerial Vehicle.
Fotis Panetsos, Panagiotis Rousseas, George Karras, Charalampos Bechlioulis, and Kostas J. Kyriakopoulos.
Sustainability (Switzerland) 14(11).
All Open Access, Gold Open Access.
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Trajectory Planning in Unknown 2D Workspaces: A Smooth, Reactive, Harmonics-Based Approach.
Panagiotis Rousseas, Charalampos Bechlioulis, and Kostas Kyriakopoulos.
IEEE Robotics and Automation Letters 7(2).
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Robust Trajectory Tracking Control for Uncertain 3-DOF Helicopters With Prescribed Performance.
Christos K. Verginis, Charalampos P. Bechlioulis, Argiris G. Soldatos, and Dimitris Tsipianitis.
IEEE/ASME Transactions on Mechatronics 27(5).
All Open Access, Hybrid Gold Open Access.
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Multi-agent Exploration with Reinforcement Learning.
Alkis Sygkounas, Dimitris Tsipianitis, George Nikolakopoulos, and Charalampos P. Bechlioulis.
30th Mediterranean Conference on Control and Automation, MED 2022.
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Bounded Energy Collisions in Human-Robot Cooperative Transportation.
Konstantinos I. Alevizos, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE/ASME Transactions on Mechatronics 27(6).
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Approximation-free Adaptive Prescribed Performance Control for Unknown SISO Nonlinear Systems with Input Saturation.
Panagiotis S. Trakas and Charalampos P. Bechlioulis.
IEEE Conference on Decision and Control.
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Learning Unknown Lagrange Dynamical Systems with Guaranteed Persistency of Excitation.
A. Samanis, P.S. Trakas, X. Papageorgiou, K.J. Kyriakopoulos, and C.P. Bechlioulis.
10th International Conference on Systems and Control, ICSC 2022.
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Indoor Visual Exploration with Multi-Rotor Aerial Robotic Vehicles.
Panagiotis Rousseas, George C. Karras, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
Sensors 22(14).
All Open Access, Gold Open Access, Green Open Access.
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Coordinated Navigation of Holonomic Robot Swarms in Complex Workspaces via Dynamic Formation Tracking Control.
Panagiotis S. Trakas, Charalampos P. Bechlioulis, and George A. Rovithakis.
30th Mediterranean Conference on Control and Automation, MED 2022.
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2021
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Quality-Diversity Optimization: a novel branch of stochastic optimization.
Konstantinos Chatzilygeroudis, Antoine Cully, Vassilis Vassiliades, and Jean-Baptiste Mouret.
Black Box Optimization, Machine Learning and No-Free Lunch Theorems.
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Machine Learning Basics.
Konstantinos Chatzilygeroudis, Ioannis Hatzilygeroudis, and Isidoros Perikos.
Intelligent Computing for Interactive System Design: Statistics, Digital Signal Processing and Machine Learning in practice.
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Learning of Parameters in Behavior Trees for Movement Skills.
Matthias Mayr, Konstantinos Chatzilygeroudis, Faseeh Ahmad, Luigi Nardi, and Volker Krueger.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
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Feature Selection in single-cell RNA-seq data via a Genetic Algorithm.
Konstantinos Chatzilygeroudis, Aristidis Vrahatis, Sotiris Tasoulis, and Michael Vrahatis.
The 15th Learning and Intelligent Optimization Conference (LION).
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Decentralized impedance control of mobile robotic manipulators for collaborative object handling with a human operator.
Michalis Logothetis, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
29th Mediterranean Conference on Control and Automation, MED 2021.
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Harmonic-Based Optimal Motion Planning in Constrained Workspaces Using Reinforcement Learning.
Panagiotis Rousseas, Charalampos Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE Robotics and Automation Letters 6(2).
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Robust Distributed Estimation of the Algebraic Connectivity for Networked Multi-robot Systems.
Ioanna Malli, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE International Conference on Robotics and Automation.
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Cooperative Impedance Control for Multiple Underwater Vehicle Manipulator Systems under Lean Communication.
Shahab Heshmati-Alamdari, Charalampos P. Bechlioulis, George C. Karras, and Kostas J. Kyriakopoulos.
IEEE Journal of Oceanic Engineering 46(2).
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Coordination of multiple robotic vehicles in obstacle-cluttered environments.
Charalampos P. Bechlioulis, Panagiotis Vlantis, and Kostas J. Kyriakopoulos.
Robotics 10(2).
All Open Access, Gold Open Access.
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A mixed-initiative formation control strategy for multiple quadrotors.
George C. Karras, Charalampos P. Bechlioulis, George K. Fourlas, and Kostas J. Kyriakopoulos.
Robotics 10(4).
All Open Access, Gold Open Access.
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Motion coordination of multiple unicycle robotic vehicles under operational constraints in obstacle-cluttered workspaces.
Charalampos P. Bechlioulis, Panagiotis Vlantis, and Kostas J. Kyriakopoulos.
29th Mediterranean Conference on Control and Automation, MED 2021.
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2020
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Robust Reinforcement Learning with Bayesian Optimisation and Quadrature.
Supratik Paul, Konstantinos Chatzilygeroudis, Kamil Ciosek, Jean-Baptiste Mouret, Osborne Michael, and Shimon Whiteson.
Journal of Machine Learning Research (JMLR), Special Issue on Bayesian Optimization.
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Benchmark for Bimanual Robotic Manipulation of Semi-deformable Objects.
Konstantinos Chatzilygeroudis, Bernardo Fichera, Ilaria Lauzana, Fanjun Bu, Kunpeng Yao, Farshad Khadivar, and Aude Billard.
Robotics and Automation Letters (RA-L): Special Issue on Benchmarking Protocols for Robotic Manipulation.
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Benchmark for Human-to-Robot Handovers of Unseen Containers with Unknown Filling.
Ricardo Sanchez-Matilla*, Konstantinos Chatzilygeroudis*, Apostolos Modas, Nuno Ferreira Duarte, Alessio Xompero, Pascal Frossard, Aude Billard, and Andrea Cavallaro.
Robotics and Automation Letters (RA-L): Special Issue on Benchmarking Protocols for Robotic Manipulation.
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From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues.
Nuno Ferreira Duarte, Konstantinos Chatzilygeroudis, José Santos-Victor, and Aude Billard.
International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob).
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Optimal robot motion planning in constrained workspaces using reinforcement learning.
Panagiotis Rousseas, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE International Conference on Intelligent Robots and Systems.
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Output Feedback Approximation-Free Prescribed Performance Tracking Control for Uncertain MIMO Nonlinear Systems.
Ioannis S. Dimanidis, Charalampos P. Bechlioulis, and George A. Rovithakis.
IEEE Transactions on Automatic Control 65(12).
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Multi-Agent Formation Control Based on Distributed Estimation with Prescribed Performance.
Charis J. Stamouli, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE Robotics and Automation Letters 5(2).
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Sensor-based motion control of autonomous underwater vehicles, part I: Modeling and low-complexity state estimation.
George C. Karras, Charalampos P. Bechlioulis, Panos Marantos, Shahab Heshmati-alamdari, and Kostas J. Kyriakopoulos.
Unknown venue (type=book).
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Computationally Efficient Harmonic-Based Reactive Exploration.
Panagiotis D. Grontas, Panagiotis Vlantis, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE Robotics and Automation Letters 5(2).
All Open Access, Green Open Access.
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Target Tracking with Multi-rotor Aerial Vehicles based on a Robust Visual Servo Controller with Prescribed Performance.
George C. Karras, C.P. Bechlioulis, George K. Fourlas, and Kostas J. Kyriakopoulos.
International Conference on Unmanned Aircraft Systems, ICUAS 2020.
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Physical Human-Robot Cooperation Based on Robust Motion Intention Estimation.
Konstantinos I. Alevizos, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
Robotica 38(10).
All Open Access, Hybrid Gold Open Access.
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Sensor-based motion control of autonomous underwater vehicles, part II: Robust motion control strategies.
Charalampos P. Bechlioulis, Shahab Heshmati-alamdari, George C. Karras, Panos Marantos, and Kostas J. Kyriakopoulos.
Unknown venue (type=book).
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Prescribed performance distance-based formation control of Multi-Agent Systems.
Farhad Mehdifar, Charalampos P. Bechlioulis, Farzad Hashemzadeh, and Mahdi Baradarannia.
Automatica.
All Open Access, Green Open Access.
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Formation Control and Target Interception for Multiple Multi-rotor Aerial Vehicles.
George C. Karras, Charalampos P. Bechlioulis, George K. Fourlas, and Kostas J. Kyriakopoulos.
International Conference on Unmanned Aircraft Systems, ICUAS 2020.
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2019
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A survey on policy search algorithms for learning robot controllers in a handful of trials.
Konstantinos Chatzilygeroudis, Vassilis Vassiliades, Freek Stulp, Sylvain Calinon, and Jean-Baptiste Mouret.
IEEE Transactions on Robotics (T-RO).
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On Force Synergies in Human Grasping Behavior.
Julia Starke, Konstantinos Chatzilygeroudis, Aude Billard, and Tamim Asfour.
International Conference on Humanoid Robots.
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Robust Image-Based Visual Servoing with Prescribed Performance under Field of View Constraints.
Charalampos P. Bechlioulis, Shahab Heshmati-Alamdari, George C. Karras, and Kostas J. Kyriakopoulos.
IEEE Transactions on Robotics 35(4).
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Robust Dynamic Average Consensus with Prescribed Performance.
Charis J. Stamouli, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE Conference on Decision and Control.
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Orientation-aware motion planning in complex workspaces using adaptive harmonic potential fields.
Panagiotis Vlantis, Constantinos Vrohidis, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE International Conference on Robotics and Automation.
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Robust Formation Control for Multiple Underwater Vehicles.
Charalampos P. Bechlioulis, Fotis Giagkas, George C. Karras, and Kostas J. Kyriakopoulos.
Frontiers in Robotics and AI.
All Open Access, Gold Open Access, Green Open Access.
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Unsupervised Online System Identification for Underwater Robotic Vehicles.
George C. Karras, Panos Marantos, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE Journal of Oceanic Engineering 44(3).
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Reconfigurable motion planning and control in obstacle cluttered environments under timed temporal tasks.
Christos K. Verginis, Constantinos Vrohidis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos, and Dimos V. Dimarogonas.
IEEE International Conference on Robotics and Automation.
All Open Access, Green Open Access.
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Decentralized Load Frequency Control with Prescribed Performance for Interconnected Power Systems.
Charalampos P. Bechlioulis, Leonidas Dritsas, and Kostas J. Kyriakopoulos.
IEEE Conference on Decision and Control.
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2018
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Reset-free Trial-and-Error Learning for Robot Damage Recovery.
Konstantinos Chatzilygeroudis, Vassilis Vassiliades, and Jean-Baptiste Mouret.
Robotics and Autonomous Systems.
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Limbo: A Flexible High-performance Library for Gaussian Processes modeling and Data-Efficient Optimization.
Antoine Cully, Konstantinos Chatzilygeroudis, Federico Allocati, and Jean-Baptiste Mouret.
The Journal of Open Source Software.
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Multi-objective Model-based Policy Search for Data-efficient Learning with Sparse Rewards.
Rituraj Kaushik, Konstantinos Chatzilygeroudis, and Jean-Baptiste Mouret.
Conference on Robot Learning (CoRL).
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Using Parameterized Black-Box Priors to Scale Up Model-Based Policy Search for Robotics.
Konstantinos Chatzilygeroudis and Jean-Baptiste Mouret.
International Conference on Robotics and Automation (ICRA).
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Bayesian Optimization with Automatic Prior Selection for Data-Efficient Direct Policy Search.
Rémi Pautrat, Konstantinos Chatzilygeroudis, and Jean-Baptiste Mouret.
International Conference on Robotics and Automation (ICRA).
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Alternating Optimisation and Quadrature for Robust Control.
Supratik Paul, Konstantinos Chatzilygeroudis, Kamil Ciosek, Jean-Baptiste Mouret, Michael A. Osborne, and Shimon Whiteson.
Thirty-Second AAAI Conference on Artificial Intelligence (AAAI).
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Robot Navigation in Complex Workspaces Using Harmonic Maps.
Panagiotis Vlantis, Constantinos Vrohidis, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE International Conference on Robotics and Automation.
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Prescribed Time Scale Robot Navigation.
Constantinos Vrohidis, Panagiotis Vlantis, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE Robotics and Automation Letters 3(2).
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Prescribed Time Scale Robot Navigation in Dynamic Environments.
Constantinos Vrohidis, Panagiotis Vlantis, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
2018 European Control Conference, ECC 2018.
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Neuro-Adaptive Traffic Congestion Control for Urban Road Networks.
Charalampos P. Bechlioulis and Kostas J. Kyriakopoulos.
European Control Conference, ECC 2018.
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Decentralized platooning with obstacle avoidance for car-like vehicles with limited sensing.
Ioannis M. Delimpaltadakis, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE Robotics and Automation Letters 3(2).
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A robust interaction control approach for underwater vehicle manipulator systems.
Shahab Heshmati-Alamdari, Charalampos P. Bechlioulis, George C. Karras, Alexandros Nikou, Dimos V. Dimarogonas, and Kostas J. Kyriakopoulos.
Annual Reviews in Control.
All Open Access, Green Open Access.
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Collaborative multi-robot transportation in obstacle-cluttered environments via implicit communication.
Charalampos P. Bechlioulis and Kostas J. Kyriakopoulos.
Frontiers Robotics AI 5(AUG).
All Open Access, Gold Open Access, Green Open Access.
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Reconfigurable multi-robot coordination with guaranteed convergence in obstacle cluttered environments under local communication.
Constantinos Vrohidis, Panagiotis Vlantis, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
Autonomous Robots 42(4).
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Robust Distributed Control Protocols for Large Vehicular Platoons With Prescribed Transient and Steady-State Performance.
Christos K. Verginis, Charalampos P. Bechlioulis, Dimos V. Dimarogonas, and Kostas J. Kyriakopoulos.
IEEE Transactions on Control Systems Technology 26(1).
All Open Access, Green Open Access.
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Human-Robot Collaboration based on Robust Motion Intention Estimation with Prescribed Performance.
Christos N. Mavridis, Konstantinos Alevizos, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
European Control Conference, ECC 2018.
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Decentralized Impedance Control for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems under Lean Communication.
Shahab Heshmati-Alamdari, Charalampos P. Bechlioulis, George C. Karras, and Kostas J. Kyriakopoulos.
2018 IEEE/OES Autonomous Underwater Vehicle Workshop.
All Open Access, Green Open Access.
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A distributed control and parameter estimation protocol with prescribed performance for homogeneous lagrangian multi-agent systems.
Charalampos P. Bechlioulis, Michael A. Demetriou, and Kostas J. Kyriakopoulos.
Autonomous Robots 42(8).
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2017
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Using Centroidal Voronoi Tessellations to Scale Up the Multi-dimensional Archive of Phenotypic Elites Algorithm.
Vassilis Vassiliades, Konstantinos Chatzilygeroudis, and Jean-Baptiste Mouret.
IEEE Transactions on Evolutionary Computation.
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Black-Box Data-efficient Policy Search for Robotics.
Konstantinos Chatzilygeroudis, Roberto Rama, Rituraj Kaushik, Dorian Goepp, Vassilis Vassiliades, and Jean-Baptiste Mouret.
International Conference on Intelligent Robots and Systems (IROS).
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20 Years of Reality Gap: a few Thoughts about Simulators in Evolutionary Robotics.
Jean-Baptiste Mouret and Konstantinos Chatzilygeroudis.
Proceedings of the International Workshop "Simulation in Evolutionary Robotics" at the Genetic and Evolutionary Computation Conference (GECCO).
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Comparing multimodal optimization and illumination.
Vassilis Vassiliades, Konstantinos Chatzilygeroudis, and Jean-Baptiste Mouret.
Genetic and Evolutionary Computation Conference (GECCO) (Poster-only papers).
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A comparison of illumination algorithms in unbounded spaces.
Vassilis Vassiliades, Konstantinos Chatzilygeroudis, and Jean-Baptiste Mouret.
Proceedings of the International Workshop "Measuring and Promoting Diversity in Evolutionary Algorithms" at the Genetic and Evolutionary Computation Conference (GECCO).
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Robust Trajectory Tracking Control for Small-Scale Unmanned Helicopters with Model Uncertainties.
Panos Marantos, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE Transactions on Control Systems Technology 25(6).
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Trajectory Tracking with Prescribed Performance for Underactuated Underwater Vehicles under Model Uncertainties and External Disturbances.
Charalampos P. Bechlioulis, George C. Karras, Shahab Heshmati-Alamdari, and Kostas J. Kyriakopoulos.
IEEE Transactions on Control Systems Technology 25(2).
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Deriving humanlike arm hand system poses.
Minas Liarokapis, Charalampos P. Bechlioulis, Panagiotis K. Artemiadis, and Kostas J. Kyriakopoulos.
Journal of Mechanisms and Robotics 9(1).
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Safe decentralized and reconfigurable multi-agent control with guaranteed convergence.
Constantinos Vrohidis, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE International Conference on Robotics and Automation.
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Decentralized Robust Synchronization of Unknown High Order Nonlinear Multi-Agent Systems with Prescribed Transient and Steady State Performance.
Charalampos P. Bechlioulis and George A. Rovithakis.
IEEE Transactions on Automatic Control 62(1).
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Decentralized Reconfigurable Multi-Robot Coordination from Local Connectivity and Collision Avoidance Specifications.
Constantinos Vrohidis, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IFAC-PapersOnLine 50(1).
All Open Access, Gold Open Access.
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Hybrid control of multiagent systems with contingent temporal tasks and prescribed formation constraints.
Meng Guo, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos, and Dimos V. Dimarogonas.
IEEE Transactions on Control of Network Systems 4(4).
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2016
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Safety-Aware Robot Damage Recovery Using Constrained Bayesian Optimization and Simulated Priors.
Vaios Papaspyros, Konstantinos Chatzilygeroudis, Vassilis Vassiliades, and Jean-Baptiste Mouret.
BayesOpt '16: Proceedings of the International Workshop "Bayesian Optimization: Black-box Optimization and Beyond" at NIPS.
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Towards semi-episodic learning for robot damage recovery.
Konstantinos Chatzilygeroudis, Antoine Cully, and Jean-Baptiste Mouret.
AILTA '16: Proceedings of the International Workshop "AI for Long-term Autonomy" at ICRA.
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Fault tolerant control for omni-directional mobile platforms with 4 mecanum wheels.
Panagiotis Vlantis, Charalampos P. Bechlioulis, George Karras, George Fourlas, and Kostas J. Kyriakopoulos.
IEEE International Conference on Robotics and Automation.
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Distributed control and parameter estimation for homogeneous Lagrangian multi-agent systems.
Charalampos P. Bechlioulis, Michael A. Demetriou, and Kostas J. Kyriakopoulos.
IEEE 55th Conference on Decision and Control, CDC 2016.
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Toward persistent autonomous intervention in a subsea panel.
Narcís Palomeras, Arnau Carrera, Natàlia Hurtós, George C. Karras, Charalampos P. Bechlioulis, Michael Cashmore, Daniele Magazzeni, Derek Long, Maria Fox, Kostas J. Kyriakopoulos, Petar Kormushev, Joaquim Salvi, and Marc Carreras.
Autonomous Robots 40(7).
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2015
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Human robot collaboration for folding fabrics based on force/RGB-D feedback.
Panagiotis Koustoumpardis, Konstantinos Chatzilygeroudis, Aris Synodinos, and Nikos Aspragathos.
24th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD).
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Decentralized object transportation by two nonholonomic mobile robots exploiting only implicit communication.
Anastasios Tsiamis, Charalampos P. Bechlioulis, George C. Karras, and Kostas J. Kyriakopoulos.
IEEE International Conference on Robotics and Automation.
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Autonomous model-free landing control of small-scale flybarless helicopters.
Panos Marantos, George C. Karras, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE International Conference on Robotics and Automation.
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Cooperative manipulation exploiting only implicit communication.
Anastasios Tsiamis, Christos K. Verginis, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE International Conference on Intelligent Robots and Systems.
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Task specific cooperative grasp planning for decentralized multi-robot systems.
Rajkumar Muthusamy, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos, and Ville Kyrki.
IEEE International Conference on Robotics and Automation.
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Decentralized 2-D control of vehicular platoons under limited visual feedback.
Christos K. Verginis, Charalampos P. Bechlioulis, Dimos V. Dimarogonas, and Kostas J. Kyriakopoulos.
IEEE International Conference on Intelligent Robots and Systems.
All Open Access, Green Open Access.
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Decentralized leader-follower control under high level goals without explicit communication.
Anastasios Tsiamis, Jana Tumova, Charalampos P. Bechlioulis, George C. Karras, Dimos V. Dimarogonas, and Kostas J. Kyriakopoulos.
IEEE International Conference on Intelligent Robots and Systems.
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Robust model-free formation control with prescribed performance for nonlinear multi-agent systems.
Charalampos P. Bechlioulis and Kostas J. Kyriakopoulos.
IEEE International Conference on Robotics and Automation.
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Quadrotor landing on an inclined platform of a moving ground vehicle.
Panagiotis Vlantis, Panos Marantos, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE International Conference on Robotics and Automation.
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2014
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Sonar-based chain following using an autonomous underwater vehicle.
Nàtalia Hurtós, Narcís Palomeras, Arnau Carrera, Marc Carreras, Charalampos P. Bechlioulis, George C. Karras, Shahab Hesmati-Alamdari, and Kostas Kyriakopoulos.
IEEE International Conference on Intelligent Robots and Systems.
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Task specific robust grasping for multifingered robot hands.
George I. Boutselis, Charalampos P. Bechlioulis, Minas V. Liarokapis, and Kostas J. Kyriakopoulos.
IEEE International Conference on Intelligent Robots and Systems.
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Robust model-free formation control with prescribed performance and connectivity maintenance for nonlinear multi-agent systems.
Charalampos P. Bechlioulis and Kostas J. Kyriakopoulos.
IEEE Conference on Decision and Control.
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Robust control of large vehicular platoons with prescribed transient and steady state performance.
Charalampos P. Bechlioulis, Dimos V. Dimarogonas, and Kostas J. Kyriakopoulos.
IEEE Conference on Decision and Control.
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Robust stabilization control of unknown small-scale helicopters.
Panos Marantos, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE International Conference on Robotics and Automation.
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Task-specific grasp selection for underactuated hands.
Christoforos I. Mavrogiannis, Charalampos P. Bechlioulis, Minas V. Liarokapis, and Kostas J. Kyriakopoulos.
IEEE International Conference on Robotics and Automation.
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An integrated approach towards robust grasping with tactile sensing.
George I. Boutselis, Charalampos P. Bechlioulis, Minas V. Liarokapis, and Kostas J. Kyriakopoulos.
IEEE International Conference on Robotics and Automation.
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Robust model free control of robotic manipulators with prescribed transient and steady state performance.
Charalampos P. Bechlioulis, Minas V. Liarokapis, and Kostas J. Kyriakopoulos.
IEEE International Conference on Intelligent Robots and Systems.
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Prescribed performance image based visual servoing under field of view constraints.
Shahab Heshmati-Alamdari, Charalampos P. Bechlioulis, Minas V. Liarokapis, and Kostas J. Kyriakopoulos.
IEEE International Conference on Intelligent Robots and Systems.
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Motion control for autonomous underwater vehicles: A robust model - Free approach.
George C. Karras, Charalampos P. Bechlioulis, Sharad Nagappa, Narcis Palomeras, Kostas J. Kyriakopoulos, and Marc Carreras.
IEEE International Conference on Robotics and Automation.
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A low-complexity global approximation-free control scheme with prescribed performance for unknown pure feedback systems.
Charalampos P. Bechlioulis and George A. Rovithakis.
Automatica 50(4).
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A Prescribed Performance Robust Nonlinear Model Predictive Control framework.
Panos Marantos, Alina Eqtami, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
European Control Conference, ECC 2014.
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2013
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On-line identification of autonomous underwater vehicles through global derivative-free optimization.
George C. Karras, Charalampos P. Bechlioulis, Matteo Leonetti, Narcais Palomeras, Petar Kormushev, Kostas J. Kyriakopoulos, and Darwin G. Caldwell.
IEEE International Conference on Intelligent Robots and Systems.
All Open Access, Green Open Access.
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Pose-based and velocity-based approaches to autonomous inspection of subsea structures.
Francesco Maurelli, Tom Larkworthy, David Lane, George C. Karras, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
OCEANS 2013 MTS/IEEE - San Diego: An Ocean in Common.
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Reinforcing robustness of adaptive dynamic surface control.
Charalampos P. Bechlioulis and George A. Rovithakis.
International Journal of Adaptive Control and Signal Processing 27(4).
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Output feedback stabilization with prescribed performance for uncertain nonlinear systems in canonical form.
Charalampos P. Bechlioulisl, Achilles Theodorakopoulos, and George A. Rovithakis.
IEEE Conference on Decision and Control.
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Approximation-free prescribed performance control for unknown SISO pure feedback systems.
Charalampos P. Bechlioulis and George A. Rovithakis.
European Control Conference, ECC 2013.
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A robust visual servo control scheme with prescribed performance for an autonomous underwater vehicle.
Charalampos P. Bechlioulis, George C. Karras, Sharad Nagappa, Narcais Palomeras, Kostas J. Kyriakopoulos, and Marc Carreras.
IEEE International Conference on Intelligent Robots and Systems.
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Robust Prescribed Performance tracking control for unknown underactuated torpedo-like AUVs.
Charalampos P. Bechlioulis and Kostas J. Kyriakopoulos.
European Control Conference, ECC 2013.
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Learning structural uncertainties of nonlinear systems with RBF neural networks via persistently exciting control.
Charalampos P. Bechlioulis and George A. Rovithakis.
21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings.
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Sequential improvement of grasp based on sensitivity analysis.
Christoforos I. Mavrogiannis, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos.
IEEE International Conference on Robotics and Automation.
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A robust sonar servo control scheme for wall-following using an autonomous underwater vehicle.
George C. Karras, Charalampos P. Bechlioulis, Hashim Kemal Abdella, Tom Larkworthy, Kostas Kyriakopoulos, and David Lane.
IEEE International Conference on Intelligent Robots and Systems.
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2012
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Guaranteeing prescribed performance and contact maintenance via an approximation free robot force/position controller.
Charalampos P. Bechlioulis, Zoe Doulgeri, and George A. Rovithakis.
Automatica 48(2).
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A priori guaranteed evolution within the neural network approximation set and robustness expansion via prescribed performance control.
Charalampos P. Bechlioulis and George A. Rovithakis.
IEEE Transactions on Neural Networks and Learning Systems 23(4).
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Robust adaptive fuzzy control of nonaffine systems guaranteeing transient and steady state error bounds.
Charalampos P. Bechlioulis and George A. Rovithakis.
International Journal of Adaptive Control and Signal Processing 26(7).
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2011
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Robust approximation free prescribed performance control.
Charalampos P. Bechlioulis and George A. Rovithakis.
19th Mediterranean Conference on Control and Automation, MED 2011.
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Approximation-free prescribed performance control.
Charalampos P. Bechlioulis and George A. Rovithakis.
IFAC Proceedings Volumes (IFAC-PapersOnline).
All Open Access, Bronze Open Access.
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2010
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Model free force/position robot control with prescribed performance.
Charalampos Bechlioulis, Zoe Doulgeri, and George Rovithakis.
18th Mediterranean Conference on Control and Automation, MED'10 - Conference Proceedings.
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Prescribed performance adaptive control for multi-input multi-output affine in the control nonlinear systems.
Charalampos P. Bechlioulis and George A. Rovithakis.
IEEE Transactions on Automatic Control 55(5).
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Neuro-adaptive force/position control with prescribed performance and guaranteed contact maintenance.
Charalampos P. Bechlioulis, Zoe Doulgeri, and George A. Rovithakis.
IEEE Transactions on Neural Networks 21(12).
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2009
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Prescribed performance adaptive control for robot force/position tracking.
C. Bechlioulis, Z. Doulgeri, and G. Rovithakis.
IEEE International Conference on Control Applications.
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Robot force/position tracking with guaranteed prescribed performance.
Ch. Bechlioulis, Z. Doulgeri, and G. Rovithakis.
IEEE International Conference on Robotics and Automation.
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Adaptive control with guaranteed transient and steady state tracking error bounds for strict feedback systems.
Charalampos P. Bechlioulis and George A. Rovithakis.
Automatica 45(2).
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2008
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Prescribed performance adaptive control of SISO feedback linearizable systems with disturbances.
Charalampos P. Bechlioulis and George A. Rovithakis.
Mediterranean Conference on Control and Automation - Conference Proceedings, MED'08.
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Robust adaptive control of feedback linearizable MIMO nonlinear systems with prescribed performance.
Charalampos P. Bechlioulis and George A. Rovithakis.
IEEE Transactions on Automatic Control 53(9).
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