Publications

Conferences

[C60] S. J. Carlson, P. Arora, and C. Papachristos, "A Multi-VTOL Modular Aspect Ratio Reconfigurable Aerial Robot", IEEE International Conference on Robotics & Automation (ICRA), pp. 8–15, May 23–May 27, 2022.

[C59] M. Kulkarni, M. Dharmadhikari, M. Tranzatto, S. Zimmermann, V. Reijgwart, P. De Petris, H. Nguyen, N. Khedekar, C. Papachristos, L. Ott, R. Siegwart, M. Hutter and K. Alexis, "A Multi-VTOL Modular Aspect Ratio Reconfigurable Aerial Robot", IEEE International Conference on Robotics & Automation (ICRA), pp. 33063313, May 23–May 27, 2022.

[C58] P. Arora, and C. Papachristos, "A Multi-VTOL Modular Aspect Ratio Reconfigurable Aerial Robot", IEEE International Conference on Robotics & Automation (ICRA), pp. 815, May 23May 27, 2022.

[C57] S. J. Carlson, and C. Papachristos, "Solar Energy Harvesting for a Land-to-Recharge Tiltrotor Micro Aerial Vehicle", 43rd IEEE Aerospace Conference (AEROCONF), pp. 1–8, March 512, 2022.

[C56] T. Dang, F. Mascarich, S. Khattak, C. Papachristos, and K. Alexis, "Mobile Manipulation–based Deployment of Micro Aerial Robot Scouts through Constricted Aperture-like Ingress Points", IEEE International Conference on Intelligent Robots & Systems (IROS), pp. 67166723, September 27–October 1, 2021.

[C55] S. J. Carlson, and C. Papachristos, "The MiniHawk-VTOL: Design, Modeling, and Experiments of a Rapidly-prototyped Tiltrotor UAV", IEEE International Conference on Unmanned Aircraft Systems (ICUAS), pp. 777786, June 15–18, 2021.

[C54] P. Arora, and C. Papachristos, "Environment Reconfiguration Planning for Autonomous Robotic Manipulation to overcome Mobility Constraints", IEEE International Conference on Robotics & Automation (ICRA), pp. 2352–2358, May 30–June 5, 2021.

[C54] P. Arora, and C. Papachristos, "Launching a Micro–Scout UAV from a Mobile Robotic Manipulator Arm", 42nd IEEE Aerospace Conference (AEROCONF), pp. 18, March 3–10, 2021.

[C53] P. Arora, and C. Papachristos, "Mobile Manipulator Robot Visual Servoing and Guidance for Dynamic Target Grasping", 15th International Symposium on Visual Computing (ISVC), pp. 223–235, October 5–7, 2020.

[C52] R. Reinhart, T. Dang, E. Hand, C. Papachristos, and K. Alexis, "Learning–based Path Planning for Autonomous Exploration of Subterranean Environments", IEEE International Conference on Robotics & Automation (ICRA), pp. 1215–1221, May 31–August 31, 2020.

[C51] M. Tsiourva, and C. Papachristos, "LiDAR Imaging-based Attentive Perception", IEEE International Conference on Unmanned Aircraft Systems (ICUAS), pp. 622626, Sept 1–4, 2020.

[C50] M. Tsiourva, and C. Papachristos, "Multi–modal Visual–Thermal Saliency–based Object Detection in Visually–degraded Environments", 41st IEEE Aerospace Conference (AEROCONF), pp. 1–9, March 3–10, 2020.

[C49] F. Mascarich, H. Nguyen, T. Dang, S. Khattak, C. Papachristos, and K. Alexis, "A Self–Deployed Multi–Channel Wireless Communications System for Subterranean Robots", 41st IEEE Aerospace Conference (AEROCONF), pp. 1–8, March 3–10, 2020.

[C48] T. Dang, F. Mascarich, S. Khattak, H. Nguyen, N. Khedekar, S. Hirsh, R. Reinhart, C. Papachristos, and K. Alexis, "Autonomous Search for Underground Mine Rescue using Aerial Robots", 41st IEEE Aerospace Conference (AEROCONF), pp. 1–8, March 3–10, 2020.

[C47] N. Zaman, A. Tavakkoli, and C. Papachristos, "Tele–robotics via An Efficient Immersive Virtual Reality Architecture", Virtual, Augmented, and Mixed Reality for Human-Robot Interaction (VAM–HRI), March 3, 2020.

[C46] T. Dang, F. Mascarich, S. Khattak, C. Papachristos, and K. Alexis, "Graph–based Path Planning for Autonomous Robotic Exploration in Subterranean Environments", IEEE International Conference on Intelligent Robots & Systems (IROS), pp. 3105–3112, November 4–8, 2019.

[C45] T. Dang, F. Mascarich, S. Khattak, H. Nguyen, N. Khedekar, C. Papachristos, and K. Alexis, "Field–hardened Robotic Autonomy for Subterranean Exploration", 12th Conference on Field and Service Robotics (FSR), September 3, 2019.

[C44] T. Dang, S. Khattak, C. Papachristos, and K. Alexis, "Anomaly Detection and Cognizant Path Planning for Surveillance Operations using Aerial Robots", IEEE International Conference on Unmanned Aircraft Systems (ICUAS), pp. 667–673, June 11–14, 2019.

[C43] C. Papachristos, S. Khattak, F. Mascarich, T. Dang, and K. Alexis, "Autonomous Aerial Robotic Exploration of Subterranean Environments relying on Morphology–aware Path Planning", IEEE International Conference on Unmanned Aircraft Systems (ICUAS), pp. 299–305, June 11–14, 2019.

[C42] S. Khattak, F. Mascarich, T. Dang, C. Papachristos, and K. Alexis, "Robust Thermal–Inertial Localization for Aerial Robots: A Case for Direct Methods", IEEE International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1061–1068, June 11–14, 2019.

[C41] N. V. Khedekar, F. Mascarich, C. Papachristos, T. Dang, and K. Alexis, "Contact–based Navigation Path Planning for Aerial Robots", IEEE International Conference on Robotics & Automation (ICRA), pp. 4161–4167, May 20–24, 2019.

[C40] S. Khattak, C. Papachristos, and K. Alexis, "Keyframe–based Direct Thermal–Inertial Odometry", IEEE International Conference on Robotics & Automation (ICRA), pp. 3563–3569, May 20–24, 2019.

[C39] F. Mascarich, C. Papachristos, T. Wilson, and K. Alexis, "Distributed Radiation Field Estimation and Informative Path Planning for Nuclear Environment Characterization", IEEE International Conference on Robotics & Automation (ICRA), pp. 2318–2324, May 20–24, 2019.

[C38] C. Papachristos, S. Khattak, F. Mascarich, and K. Alexis, "Autonomous Navigation and Mapping in Underground Mines Using Aerial Robots", 40th IEEE Aerospace Conference (AEROCONF), pp. 1–8, March 3–10, 2019.

[C37] C. Papachristos, S. Khattak, and K. Alexis, "Haptic Feedback–based Reactive Navigation for Aerial Robots Subject to Localization Failure", 40th IEEE Aerospace Conference (AEROCONF), pp. 1–7, March 3–10, 2019.

[C36] S. Khattak, C. Papachristos, and K. Alexis, "Visual–Thermal Landmarks and Inertial Fusion for Navigation in Degraded Visual Environments", 40th IEEE Aerospace Conference (AEROCONF), pp. 529540, March 3–10, 2019.

[C35] C. Papachristos, F. Mascarich, and K. Alexis, "Thermal–Inertial Localization for Autonomous Navigation of Aerial Robots through Obscurants", IEEE International Conference on Unmanned Aircraft Systems (ICUAS), pp. 394–399, June 12–15, 2018.

[C34] T. Dang, C. Papachristos, and K. Alexis, "Visual Saliency–Aware Receding Horizon Autonomous Exploration with Application to Aerial Robotics", IEEE International Conference on Robotics & Automation (ICRA), pp. 2526–2533, May 21–25, 2018.

[C33] F. Mascarich, T. Wilson, C. Papachristos, and K. Alexis, "Radiation Source Localization in GPS–Denied Environments Using Aerial Robots", IEEE International Conference on Robotics & Automation (ICRA), pp. 6537–6544, May 21–25, 2018.

[C32] F. Mascarich, S. Khattak, C. Papachristos, and K. Alexis, "A Multi–Modal Mapping Unit for Autonomous Exploration and Mapping of Underground Tunnels", 39th IEEE Aerospace Conference (AEROCONF), pp. 1–7, March 3–10, 2018.

[C31] T. Dang, C. Papachristos, and K. Alexis, "Autonomous Exploration and Simultaneous Object Search using Aerial Robots", 39th IEEE Aerospace Conference (AEROCONF), pp. 1–7, March 3–10, 2018.

[C30] C. Papachristos, S. Khattak, and K. Alexis, "Uncertainty–Aware Receding Horizon Exploration and Mapping Using Aerial Robots", IEEE International Conference on Robotics & Automation (ICRA), pp. 4568–4575, May 29–June 3, 2017.

[C29] C. Papachristos, S. Khattak, and K. Alexis, "Autonomous Exploration of Visually–Degraded Environments using Aerial Robots", IEEE International Conference on Unmanned Aircraft Systems (ICUAS), pp. 775–780, June 13–16, 2017.

[C28] C. Papachristos, and K. Alexis, "Autonomous Detection and Classification of Change Using Aerial Robots", 38th IEEE Aerospace Conference (AEROCONF), pp. 1–8, March 4–11, 2017.

[C27] S. Khattak, C. Papachristos, and K. Alexis, "Change Detection and Object Recognition Using Aerial Robots", 12th International Symposium on Visual Computing (ISVC), Advances in Visual Computing – Lecture Notes in Computer Science, vol 10072, pp. 582–592, December 12–14, 2016.

[C26] C. Papachristos, and K. Alexis, "Augmented Reality–enhanced Structural Inspection using Aerial Robots", IEEE Multi-Conference on Systems and Control (MSC) – International Symposium on Intelligent Control (ISIC), pp. 1–6, September 19–22, 2016.

[C25] C. Papachristos, K. Alexis, L. R. G. Carrillo, and A. Tzes, "Distributed Infrastructure Inspection Path Planning for Aerial Robotics subject to Time Constraints", IEEE International Conference on Unmanned Aircraft Systems (ICUAS), pp. 406–412, June 7–10, 2016.

[C24] C. Papachristos, D. Tzoumanikas, and A. Tzes, "Aerial Robotic Tracking of a Generalized Mobile Target employing Visual and Spatio–Temporal Dynamic Subject Perception", IEEE International Conference on Intelligent Robots & Systems (IROS), pp. 4319–4324, September 28–October 2, 2015.

[C23] C. Papachristos, D. Tzoumanikas, K. Alexis, and A. Tzes, "Autonomous Robotic Aerial Tracking, Avoidance, and Seeking of a Mobile Human Subject", 11th International Symposium on Visual Computing (ISVC), Advances in Visual Computing – Lecture Notes in Computer Science, vol 9474, pp. 444–454, December 14–16, 2015.

[C22] L. Zikou, C. Papachristos, K. Alexis, and A. Tzes, "Inspection Operations using an Aerial Robot Powered–over–Tether by a Ground Vehicle", 11th International Symposium on Visual Computing (ISVC), Advances in Visual Computing – Lecture Notes in Computer Science, vol 9474, pp. 455–465, December 14–16, 2015.

[C21] K. Alexis, C. Papachristos, R. Siegwart, and A. Tzes, "Uniform Coverage Structural Inspection Path–Planning for Micro Aerial Vehicles", IEEE Multi-Conference on Systems and Control (MSC) – International Symposium on Intelligent Control (ISIC), pp. 59–64, September 21–23, 2015.

[C20] C. Papachristos, L. Zikou, and A. Tzes, "Deployment of a VSTOL–UAV for Perception purposes in Search and Rescue Operations", SafeChania 2015: The Knowledge Triangle in the Civil Protection Service (Education, Research, Innovation), online, June 10–12, 2015.

[C19] K. Alexis, C. Papachristos, R. Siegwart, and A. Tzes, "Sampling–based Receding Horizon Collision–free Control For a Class of Micro Aerial Vehicles", 23rd IEEE Mediterranean Conference on Control & Automation (MED), pp. 675–680, June 16–19, 2015.

[C18] L. Zikou, C. Papachristos, and A. Tzes, "The Power–over–Tether system for powering small UAVs: Tethering–Line Tension Control Synthesis", 23rd IEEE Mediterranean Conference on Control & Automation (MED), pp. 715–721, June 16–19, 2015.

[C17] L. Zikou, and C. Papachristos, "Power–over–Tether: A remote powering system for small Unmanned Aerial Vehicles", 8th National Conference of Students of Electrical and Computer Engineering (SFHMMY), April 3–5, 2015.

[C16] C. Papachristos, K. Alexis, and A. Tzes, "Technical Activities Execution with a TiltRotor UAS employing Explicit Model Predictive Control", Proceedings of the 19th International Federation of Automatic Control (IFAC) World Congress, pp. 11036–11042, August 24–29, 2014.

[C15] C. Papachristos, K. Alexis, and A. Tzes, "Efficient Force Exertion for Aerial Robotic Manipulation: Exploiting the Thrust-Vectoring Authority of a Tri–TiltRotor UAV", IEEE International Conference on Robotics & Automation (ICRA), pp. 4500–4505, May 31–June 7, 2014.

[C14] K. Alexis, C. Papachristos, R. Siegwart, and A. Tzes, "Robust Explicit Model Predictive Flight Control of Unmanned Rotorcrafts: Design and Experimental Evaluation", 13th European Control Conference (ECC), pp. 498–503, June 24–27, 2014.

[C13] C. Papachristos, and A. Tzes, "The Power–Tethered UAV–UGV Team: A Collaborative Strategy for Navigation in Partially–Mapped Environments", 22nd IEEE Mediterranean Conference on Control & Automation (MED), pp. 1153–1158, June 16–19, 2014.

[C12] C. Papachristos, K. Alexis, and A. Tzes, "Linear Quadratic Optimal Trajectory–Tracking Control of a Longitudinal Thrust Vectoring–Enabled Unmanned Tri–TiltRotor", IEEE 39th Industrial Electronics Society Conference (IECON), pp. 4174–4179, November 10–13, 2013.

[C11] C. Papachristos, K. Alexis, and A. Tzes, "Linear Quadratic Optimal Position Control for an Unmanned Tri–TiltRotor", IEEE International Conference on Control, Decision and Information Technologies (CoDIT), pp. 708–713, May 6–8, 2013.

[C10] C. Papachristos, and A. Tzes, "Large Object Pushing via a Direct Longitudinally–Actuated Unmanned Tri–TiltRotor", 21st IEEE Mediterranean Conference on Control & Automation (MED), pp. 173–178, June 25–28, 2013.

[C9] C. Papachristos, K. Alexis, and A. Tzes, "Trajectory Control of an Unmanned Tri–TiltRotor in Hover Flight via Direct Longitudinal Actuation", IEEE 21st Mediterranean Conference on Control & Automation (MED), pp. 369–374, June 25–28, 2013.

[C8] C. Papachristos, K. Alexis, and A. Tzes, "Hybrid Model Predictive Flight Mode Conversion Control of Unmanned Quad–TiltRotors", 12th European Control Conference (ECC), pp. 1793–1798, July 17–19, 2013.

[C7] C. Papachristos, K. Alexis, and A. Tzes, "Model Predictive Hovering–Translation Control of an Unmanned Tri–TiltRotor", IEEE International Conference on Robotics & Automation (ICRA), pp. 5404–5412, May 6–10, 2013.

[C6] C. Papachristos, K. Alexis, and A. Tzes, "Towards a High–End Unmanned Tri–TiltRotor: Design, Modeling and Hover Control", 20th IEEE Mediterranean Conference on Control & Automation (MED), pp. 1579–1584, July 3–6, 2012.

[C5] C. Papachristos, and A. Tzes, "Modeling and Control Simulation of an Unmanned Tilt Tri–Rotor Aerial Vehicle", IEEE International Conference on Industrial Technology (ICIT), pp. 840–845, March 19–21.

[C4] C. Papachristos, K. Alexis, and A. Tzes, "Design and Experimental Attitude Control of an Unmanned Tilt–Rotor Aerial Vehicle", 15th IEEE International Conference on Advanced Robotics (ICAR), pp. 465–470, June 20–23, 2011.

[C3] K. Alexis, C. Papachristos, G. Nikolakopoulos, and A. Tzes, "Model Predictive Quadrotor Indoor Position Control", 19th IEEE Mediterranean Conference on Control & Automation (MED), pp. 1247–1252, June 20–23, 2011.

[C2] C. Papachristos, K. Alexis, G. Nikolakopoulos, and A. Tzes, "Model Predictive Attitude Control of an Unmanned Tilt–Rotor Aircraft", IEEE International Symposium on Industrial Electronics (ISIE), pp. 922–927, June 27–30, 2011.

[C1] C. Papachristos, K. Alexis, G. Nikolakopoulos, and A. Tzes, "Modeling and Control of an Unmanned Tilt–Rotor flying in Helicopter Mode", 2nd Hellenic Robotics Conference, pp. 922–927, December 9–10, 2010.

Journals

[J7] M. Tranzatto, F. Mascarich, L. Bernreiter, C. Godinho, M. Camurri, S. Khattak, T. Dang, V. Reijgwart, J. Loeje, D. Wisth, S. Zimmermann, H. Nguyen, M. Fehr, L. Solanka, R. Buchanan, M. Bjelonic, N. Khedekar, M. Valceschini, F. Jenelten, M. Dharmadhikari, T. Homberger, P. De Petris, L. Wellhausen, M. Kulkarni, T. Miki, S. Hirsch, M. Montenegro, C. Papachristos, F. Tresoldi, J. Carius, G. Valsecchi, J. Lee, K. Meyer, X. Wu, J. Nieto, A. Smith, M. Hutter, R. Siegwart, M. Mueller, M. Fallon, K. Alexis, "CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge", Field Robotics, 2021, DOI: 10.3929/ethz-b-000489726

[J6] S. Khattak, C. Papachristos, and K. Alexis, "Keyframe–based Thermal–Inertial Odometry", Journal of Field Robotics, Wiley, 2020, Vol. 37, pp. 552–579, DOI: 10.1002/rob.21932

[J5] C. Papachristos, F. Mascarich, S. Khattak, T. Dang, and K. Alexis, "Localization Uncertainty–aware Autonomous Exploration and Mapping with Aerial Robots using Receding Horizon Path–planning", Autonomous Robots, Springer US, 2019, Vol. 43, pp. 2131–2161, DOI: 10.1007/s10514-019-09864-1

[J4] 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, Now Publishers, Inc., 2018, Vol. 7, No. 3, pp. 180–250, DOI: 10.1007/978-3-319-91590-6_3

[J3] C. Sinnott, T. Dang, C. Papachristos, K. Alexis, and P. MacNeilage, "Statistical Characterization of Heading Stimuli in Natural Environments using SLAM", Journal of Vision, DOI: 10.1167/18.10.41

[J2] K. Alexis, C. Papachristos, R. Siegwart, and A. Tzes, "Robust Model Predictive Flight Control of Unmanned Rotorcrafts", Journal of Intelligent and Robotic Systems, Springer, DOI: 10.1007/s10846-015-0238-7

[J1] C. Papachristos, K. Alexis, and 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

Book Chapters

[B2] T. Dang, F. Mascarich, S. Khattak, C. Papachristos, and K. Alexis, "Informative Path Planning for Autonomous Aerial Robots", Encyclopedia of Robotics, Springer Berlin, 2020, DOI: 10.1007/978-3-642-41610-1_74-1

[B1] C. Papachristos, M. Kamel, M. Popovic, S. Khattak, A. Bircher, H. Oleynikova, T. Dang, F. Mascarich, K. Alexis, and R. Siegwart, "Autonomous Exploration and Inspection Path Planning for Aerial Robots using the Robot Operating System", Robot Operating System (ROS): The Complete Reference (Volume 3), Springer International Publishing, 2019, pp. 67–111, DOI: 10.1007/978-3-319-91590-6_3

Invited Talks & Workshops

[T9] C. Papachristos, F. Mascarich, S. Khattak, T. Dang, and K. Alexis, "Aerial Robotics for Exploration of Subterranean Environments", Co-organized Workshop: Autonomous Navigation for Aerial Robots in Extreme Environments: From Subterranean Environments to the Arctic, 18th IEEE International Conference on Unmanned Aircraft Systems (ICUAS), June 2–15, 2018.

[T8] T. Dang, C. Papachristos, and K. Alexis, "Unsupervised Anomaly Detection for Autonomous Surveillance", Late Breaking Results, IEEE International Conference on Robotics & Automation (ICRA), May 21–25, 2018.

[T7] C. Papachristos, "Self–Flying Drones: On a Mission to Navigate Dark, Dangerous and Unknown Worlds", Mountain Minds Monday, Tahoe Silicon Mountain enterpreneurial hub, October 6, 2017.

[T6] F. Mascarich, T. Wilson, T. Dang, S. Khattak, C. Papachristos, and K. Alexis, "Towards Robotically Supported Decommissioning of Nuclear Sites", Workshop: Autonomous Structural Monitoring and Maintenance Using Aerial Robots, IEEE International Conference on Robotics & Automation (ICRA), May 29–June 3, 2017.

[T5] C. Papachristos, "Autonomous Aerial Robots", Robotics Day, Autonomous Robots Lab University of Nevada Reno, March 31, 2017.

[T4] C. Papachristos, "Autonomous Multi–Modal Localization and Mapping: Fundamentals and the State–of–the–Art", Robotics Short Seminars, Autonomous Robots Lab University of Nevada Reno, December 2, 2016.

[T3] C. Papachristos, "Introduction to the Point Cloud Library", Robotics Short Seminars, Autonomous Robots Lab University of Nevada Reno, February 25, 2016.

[T2] C. Papachristos, and A. Tzes, "UAVs Overcoming Physical Limitations: The Tri-TiltRotor in Obstacle Manipulation", Workshop: Aerial Mobile Manipulation, IEEE Robotics: Science & Systems Conference (RSS), June 24-28, 2013.

[T1] K. Alexis, C. Papachristos, and A. Tzes, "Low–cost designs for Vertical and/or Short Take-Off and Landing Unmanned Aerial Vehicles: Sensors, Actuators, Controllers and Communication", Workshop: Micro and Small Unmanned Aerial Vehicles Design, Sensor–based Control and Applications, IEEE 19th Mediterranean Conference on Control and Automation, June 20-22, 2011.