A low-cost stereoscopic µP-based vision system for industrial light objects grasping. - Christoforos Kanellakis; George Kyritsis; Ourania Tsilomitrou; Stamatis Manesis (MED, 2015)

A robust reconfigurable control scheme against pose estimation induced time delays. - Christoforos Kanellakis; George Nikolakopoulos (CCA, 2016)

Evaluation of visual localization systems in underground mining. - Christoforos Kanellakis; George Nikolakopoulos (MED, 2016)

On the design, modeling and control of a novel compact aerial manipulator. - David Wuthier; Dariusz Kominiak; Christoforos Kanellakis; Georgios Andrikopoulos; Matteo Fumagalli 001; G. Schipper; George Nikolakopoulos (MED, 2016)

Cooperative Aerial Coverage Path Planning for Visual Inspection of Complex Infrastructures. - Sina Sharif Mansouri; Christoforos Kanellakis; David Wuthier; Emil Fresk; George Nikolakopoulos (CoRR, 2016)

On vision enabled aerial manipulation for multirotors. - Christoforos Kanellakis; Matteo Terreran; Dariusz Kominiak; George Nikolakopoulos (ETFA, 2017)

Cooperative UAVs as a Tool for Aerial Inspection of the Aging Infrastructure. - Sina Sharif Mansouri; Christoforos Kanellakis; Emil Fresk; Dariusz Kominiak; George Nikolakopoulos (FSR, 2017)

Cooperative coverage for surveillance of 3D structures. - Antonio Adaldo; Sina Sharif Mansouri; Christoforos Kanellakis; Dimos V. Dimarogonas; Karl Henrik Johansson; George Nikolakopoulos (IROS, 2017)

Reduced complexity calibration of MEMS IMUs. - Emil Fresk; Sina Sharif Mansouri; Christoforos Kanellakis; Erik Halen; George Nikolakopoulos (MED, 2017)

Dynamic visual sensing based on MPC controlled UAVs. - Christoforos Kanellakis; Sina Sharif Mansouri; George Nikolakopoulos (MED, 2017)

Survey on Computer Vision for UAVs: Current Developments and Trends. - Christoforos Kanellakis; George Nikolakopoulos (J. Intell. Robotic Syst., 2017)

Cooperative UAVs as a Tool for Aerial Inspection of Large Scale Aging Infrastructure. - Christoforos Kanellakis; Sina Sharif Mansouri; Emil Fresk; Dariusz Kominiak; George Nikolakopoulos (IROS, 2018)

Towards MAV Navigation in Underground Mine Using Deep Learning. - Sina Sharif Mansouri; Christoforos Kanellakis; George K. Georgoulas; George Nikolakopoulos (ROBIO, 2018)

Open Space Attraction Based Navigation in Dark Tunnels for MAVs. - Christoforos Kanellakis; Petros S. Karvelis; George Nikolakopoulos (ICVS, 2019)

Image Enhancing in Poorly Illuminated Subterranean Environments for MAV Applications: A Comparison Study. - Christoforos Kanellakis; Petros S. Karvelis; George Nikolakopoulos (ICVS, 2019)

Autonomous MAV Navigation in Underground Mines Using Darkness Contours Detection. - Sina Sharif Mansouri; Miguel Castaño; Christoforos Kanellakis; George Nikolakopoulos (ICVS, 2019)

Visual Subterranean Junction Recognition for MAVs based on Convolutional Neural Networks. - Sina Sharif Mansouri; Petros S. Karvelis; Christoforos Kanellakis; Anton Koval; George Nikolakopoulos (IECON, 2019)

Vision-based MAV Navigation in Underground Mine Using Convolutional Neural Network. - Sina Sharif Mansouri; Petros S. Karvelis; Christoforos Kanellakis; Dariusz Kominiak; George Nikolakopoulos (IECON, 2019)

Autonomous visual inspection of large-scale infrastructures using aerial robots. - Christoforos Kanellakis; Emil Fresk; Sina Sharif Mansouri; Dariusz Kominiak; George Nikolakopoulos (CoRR, 2019)

MAV Navigation in Unknown Dark Underground Mines Using Deep Learning. - Sina Sharif Mansouri; Christoforos Kanellakis; Petros S. Karvelis; Dariusz Kominiak; George Nikolakopoulos (ECC, 2020)

Towards Robust Localization Deep Feature Extraction by CNN. - Erik Carlbaum; Sina Sharif Mansouri; Christoforos Kanellakis; Anton Koval; George Nikolakopoulos (IECON, 2020)

MAV Development Towards Navigation in Unknown and Dark Mining Tunnels. - Dariusz Kominiak; Sina Sharif Mansouri; Christoforos Kanellakis; George Nikolakopoulos (MED, 2020)

Collision Free Path Planning based on Local 2D Point-Clouds for MAV Navigation. - Björn Lindqvist; Sina Sharif Mansouri; Christoforos Kanellakis; George Nikolakopoulos (MED, 2020)

Towards Visual Inspection of Wind Turbines: A Case of Visual Data Acquisition Using Autonomous Aerial Robots. - Christoforos Kanellakis; Emil Fresk; Sina Sharif Mansouri; Dariusz Kominiak; George Nikolakopoulos (IEEE Access, 2020)

A Subterranean Virtual Cave World for Gazebo based on the DARPA SubT Challenge. - Anton Koval; Christoforos Kanellakis; Emil Vidmark; Jakub Haluska; George Nikolakopoulos (CoRR, 2020)

Subterranean MAV Navigation based on Nonlinear MPC with Collision Avoidance Constraints. - Sina Sharif Mansouri; Christoforos Kanellakis; Emil Fresk; Björn Lindqvist; Dariusz Kominiak; Anton Koval; Pantelis Sopasakis; George Nikolakopoulos (CoRR, 2020)

Where to look: a collection of methods forMAV heading correction in underground tunnels. - Christoforos Kanellakis; Sina Sharif Mansouri; Miguel Castaño; Petros S. Karvelis; Dariusz Kominiak; George Nikolakopoulos (IET Image Process., 2020)

Guidance for Autonomous Aerial Manipulator Using Stereo Vision. - Christoforos Kanellakis; George Nikolakopoulos (J. Intell. Robotic Syst., 2020)

A Unified NMPC Scheme for MAVs Navigation With 3D Collision Avoidance Under Position Uncertainty. - Sina Sharif Mansouri; Christoforos Kanellakis; Björn Lindqvist; Farhad Pourkamali-Anaraki; Ali-akbar Agha-mohammadi; Joel Burdick; George Nikolakopoulos (IEEE Robotics Autom. Lett., 2020)

Deploying MAVs for autonomous navigation in dark underground mine environments. - Sina Sharif Mansouri; Christoforos Kanellakis; Dariusz Kominiak; George Nikolakopoulos (Robotics Auton. Syst., 2020)

Geometry Aware NMPC Scheme for Morphing Quadrotor Navigation in Restricted Entrances. - Andreas Papadimitriou; Sina Sharif Mansouri; Christoforos Kanellakis; George Nikolakopoulos (ECC, 2021)

Towards Autonomous Aerial Scouting Using Multi-Rotors in Subterranean Tunnel Navigation. - Christoforos Kanellakis; Petros S. Karvelis; Sina Sharif Mansouri; Ali-Akbar Agha-Mohammadi; George Nikolakopoulos (IEEE Access, 2021)

Correction to "Towards Autonomous Aerial Scouting Using Multi-Rotors in Subterranean Tunnel Navigation". - Christoforos Kanellakis; Petros S. Karvelis; Sina Sharif Mansouri; Ali-Akbar Agha-Mohammadi; George Nikolakopoulos (IEEE Access, 2021)

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge. - Ali Agha; Kyohei Otsu; Benjamin Morrell; David D. Fan; Rohan Thakker; Angel Santamaria-Navarro; Sung-Kyun Kim; Amanda Bouman; Xianmei Lei; Jeffrey A. Edlund; Muhammad Fadhil Ginting; Kamak Ebadi; et al. (CoRR, 2021)

Design and Model Predictive Control of Mars Coaxial Quadrotor. - Akash Patel; Avijit Banerjee; Björn Lindqvist; Christoforos Kanellakis; George Nikolakopoulos (CoRR, 2021)

D*+s: A Generic Platform-Agnostic and Risk-Aware Path Planing Framework with an Expandable Grid. - Samuel Karlsson; Anton Koval; Christoforos Kanellakis; Ali-akbar Agha-mohammadi; George Nikolakopoulos (CoRR, 2021)

LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time. - Matteo Palieri; Benjamin Morrell; Abhishek Thakur; Kamak Ebadi; Jeremy Nash; Arghya Chatterjee 002; Christoforos Kanellakis; Luca Carlone; Cataldo Guaragnella; Ali-akbar Agha-mohammadi (IEEE Robotics Autom. Lett., 2021)

Corrections to "LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time". - Matteo Palieri; Benjamin Morrell; Abhishek Thakur; Kamak Ebadi; Jeremy Nash; Arghya Chatterjee 002; Christoforos Kanellakis; Luca Carlone; Cataldo Guaragnella; Ali-akbar Agha-mohammadi (IEEE Robotics Autom. Lett., 2021)

Multi-Robot Task Allocation Framework with Integrated Risk-Aware 3D Path Planning. - Yifan Bai 002; Björn Lindqvist; Samuel Karlsson; Christoforos Kanellakis; George Nikolakopoulos (MED, 2022)

An Adaptive 3D Artificial Potential Field for Fail-safe UAV Navigation. - Björn Lindqvist; Jakub Haluska; Christoforos Kanellakis; George Nikolakopoulos (MED, 2022)

Fast Planner for MAV Navigation in Unknown Environments Based on Adaptive Search of Safe Look-Ahead Poses. - Akash Patel; Björn Lindqvist; Christoforos Kanellakis; George Nikolakopoulos (MED, 2022)

Experimental Evaluation of a Geometry-Aware Aerial Visual Inspection Framework in a Constrained Environment. - Vignesh Kottayam Viswanathan; Sumeet G. Satpute; Björn Lindqvist; Christoforos Kanellakis; George Nikolakopoulos (MED, 2022)

Towards Energy Efficient Autonomous Exploration of Mars Lava Tube with a Martian Coaxial Quadrotor. - Akash Patel; Samuel Karlsson; Björn Lindqvist; Christoforos Kanellakis; Ali-akbar Agha-mohammadi; George Nikolakopoulos (CoRR, 2022)

COMPRA: A COMPact Reactive Autonomy Framework for Subterranean MAV Based Search-And-Rescue Operations. - Björn Lindqvist; Christoforos Kanellakis; Sina Sharif Mansouri; Ali-akbar Agha-mohammadi; George Nikolakopoulos (J. Intell. Robotic Syst., 2022)

On the Design, Modeling and Experimental Verification of a Floating Satellite Platform. - Avijit Banerjee; Sumeet G. Satpute; Christoforos Kanellakis; Ilias Tevetzidis; Jakub Haluska; Per Bodin; George Nikolakopoulos (IEEE Robotics Autom. Lett., 2022)

Dataset collection from a SubT environment. - Anton Koval; Samuel Karlsson; Sina Sharif Mansouri; Christoforos Kanellakis; Ilias Tevetzidis; Jakub Haluska; Ali-akbar Agha-mohammadi; George Nikolakopoulos (Robotics Auton. Syst., 2022)

Multimodality robotic systems: Integrated combined legged-aerial mobility for subterranean search-and-rescue. - Björn Lindqvist; Samuel Karlsson; Anton Koval; Ilias Tevetzidis; Jakub Haluska; Christoforos Kanellakis; Ali-akbar Agha-mohammadi; George Nikolakopoulos (Robotics Auton. Syst., 2022)

NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge. - Ali Agha; Kyohei Otsu; Benjamin Morrell; David D. Fan; Rohan Thakker; Angel Santamaria-Navarro; Sung-Kyun Kim; Amanda Bouman; Xianmei Lei; Jeffrey A. Edlund; Muhammad Fadhil Ginting; Kamak Ebadi; et al. (Field Robotics, 2022)

MSL3D: Pointcloud-based muck pile Segmentation and Localization in Unknown SubT Environments. - Mario Alberto Valdes Saucedo; Christoforos Kanellakis; George Nikolakopoulos (MED, 2023)

Multi Agent Coordination Strategy for Collaborative Exploration of GPS-denied Environments. - Akash Patel; Christoforos Kanellakis; George Nikolakopoulos (ROBIO, 2023)

Memory Enabled Segmentation of Terrain for Traversability based Reactive Navigation. - Mario Alberto Valdes Saucedo; Akash Patel; Christoforos Kanellakis; George Nikolakopoulos (ROBIO, 2023)

Evaluation of Lidar-based 3D SLAM algorithms in SubT environment. - Anton Koval; Christoforos Kanellakis; George Nikolakopoulos (CoRR, 2023)

SA-reCBS: Multi-robot task assignment with integrated reactive path generation. - Yifan Bai 002; Christoforos Kanellakis; George Nikolakopoulos (CoRR, 2023)

Event Camera and LiDAR based Human Tracking for Adverse Lighting Conditions in Subterranean Environments. - Mario Alberto Valdes Saucedo; Akash Patel; Rucha Sawlekar; Akshit Saradagi; Christoforos Kanellakis; Ali-Akbar Agha-Mohammadi; George Nikolakopoulos (CoRR, 2023)

D+∗: A risk aware platform agnostic heterogeneous path planner. - Samuel Karlsson; Anton Koval; Christoforos Kanellakis; George Nikolakopoulos (Expert Syst. Appl., 2023)

REF: A Rapid Exploration Framework for Deploying Autonomous MAVs in Unknown Environments. - Akash Patel; Björn Lindqvist; Christoforos Kanellakis; Ali-akbar Agha-mohammadi; George Nikolakopoulos (J. Intell. Robotic Syst., 2023)

Towards Visual Inspection of Distributed and Irregular Structures: A Unified Autonomy Approach. - Vignesh Kottayam Viswanathan; Björn Lindqvist; Sumeet Gajanan Satpute; Christoforos Kanellakis; George Nikolakopoulos (J. Intell. Robotic Syst., 2023)

STAGE: Scalable and Traversability-Aware Graph based Exploration Planner for Dynamically Varying Environments. - Akash Patel; Mario Alberto Valdes Saucedo; Christoforos Kanellakis; George Nikolakopoulos (ICRA, 2024)

Belief Scene Graphs: Expanding Partial Scenes with Objects through Computation of Expectation. - Mario Alberto Valdes Saucedo; Akash Patel; Akshit Saradagi; Christoforos Kanellakis; George Nikolakopoulos (ICRA, 2024)

D-MARL: A Dynamic Communication-Based Action Space Enhancement for Multi Agent Reinforcement Learning Exploration of Large Scale Unknown Environments. - Gabriele Calzolari; Vidya Sumathy; Christoforos Kanellakis; George Nikolakopoulos (IROS, 2024)

Leveraging Computation of Expectation Models for Commonsense Affordance Estimation on 3D Scene Graphs. - Mario Alberto Valdes Saucedo; Nikolaos Stathoulopoulos; Akash Patel; Christoforos Kanellakis; George Nikolakopoulos (IROS, 2024)

BOX3D: Lightweight Camera-LiDAR Fusion for 3D Object Detection and Localization. - Mario Alberto Valdes Saucedo; Nikolaos Stathoulopoulos; Vidya Sumathy; Christoforos Kanellakis; George Nikolakopoulos (MED, 2024)

A Surface Adaptive First-Look Inspection Planner for Autonomous Remote Sensing of Open-Pit Mines. - Vignesh Kottayam Viswanathan; Vidya Sumathy; Christoforos Kanellakis; George Nikolakopoulos (ROBIO, 2024)

xFLIE: Leveraging Actionable Hierarchical Scene Representations for Autonomous Semantic-Aware Inspection Missions. - Vignesh Kottayam Viswanathan; Mario Alberto Valdes Saucedo; Sumeet Gajanan Satpute; Christoforos Kanellakis; George Nikolakopoulos (CoRR, 2024)

An Actionable Hierarchical Scene Representation Enhancing Autonomous Inspection Missions in Unknown Environments. - Vignesh Kottayam Viswanathan; Mario Alberto Valdes Saucedo; Sumeet Gajanan Satpute; Christoforos Kanellakis; George Nikolakopoulos (CoRR, 2024)

Reinforcement Learning Driven Multi-Robot Exploration via Explicit Communication and Density-Based Frontier Search. - Gabriele Calzolari; Vidya Sumathy; Christoforos Kanellakis; George Nikolakopoulos (CoRR, 2024)

Investigating the Impact of Communication-Induced Action Space on Exploration of Unknown Environments with Decentralized Multi-Agent Reinforcement Learning. - Gabriele Calzolari; Vidya Sumathy; Christoforos Kanellakis; George Nikolakopoulos (CoRR, 2024)

EAT: Environment Agnostic Traversability for reactive navigation. - Mario Alberto Valdes Saucedo; Akash Patel; Christoforos Kanellakis; George Nikolakopoulos (Expert Syst. Appl., 2024)

Towards field deployment of MAVs in adaptive exploration of GPS-denied subterranean environments. - Akash Patel; Samuel Karlsson; Björn Lindqvist; Jakub Haluska; Christoforos Kanellakis; Ali-akbar Agha-mohammadi; George Nikolakopoulos (Robotics Auton. Syst., 2024)

A Minimal Subset Approach for Efficient and Scalable Loop Closure. - Nikolaos Stathoulopoulos; Christoforos Kanellakis; George Nikolakopoulos (CoRR, 2025)

Multi-agent Path Planning Based on Conflict-Based Search (CBS) Variations for Heterogeneous Robots. - Yifan Bai 002; Shruti Kotpalliwar; Christoforos Kanellakis; George Nikolakopoulos (J. Intell. Robotic Syst., 2025)

A Graph-Based Reinforcement Learning Approach with Frontier Potential Based Reward for Safe Cluttered Environment Exploration. - Gabriele Calzolari; Vidya Sumathy; Christoforos Kanellakis; George Nikolakopoulos (CoRR, 2025)

An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments. - Ali Agha; Kyohei Otsu; Benjamin Morrell; David D. Fan; Sung-Kyun Kim; Muhammad Fadhil Ginting; Xianmei Lei; Jeffrey A. Edlund; Seyed Abolfazl Fakoorian; Amanda Bouman; Fernando Chavez; Taeyeon Kim; et al. (CoRR, 2025)

Estimating Commonsense Scene Composition on Belief Scene Graphs. - Mario Alberto Valdes Saucedo; Vignesh Kottayam Viswanathan; Christoforos Kanellakis; George Nikolakopoulos (CoRR, 2025)

A Hierarchical Graph-Based Terrain-Aware Autonomous Navigation Approach for Complementary Multimodal Ground-Aerial Exploration. - Akash Patel; Mario Alberto Valdes Saucedo; Nikolaos Stathoulopoulos; Viswa Narayanan Sankaranarayanan; Ilias Tevetzidis; Christoforos Kanellakis; George Nikolakopoulos (CoRR, 2025)

SPADE: Towards Scalable Path Planning Architecture on Actionable Multi-Domain 3D Scene Graphs. - Vignesh Kottayam Viswanathan; Akash Patel; Mario Alberto Valdes Saucedo; Sumeet G. Satpute; Christoforos Kanellakis; George Nikolakopoulos (CoRR, 2025)