Publications
REF: A Rapid Exploration Framework for Deploying Autonomous MAVs in Unknown Environments
Patel, Akash; Lindqvist, Bjorn; Kanellakis, Christoforos; Agha-Mohammadi, Ali-Akbar; Nikolakopoulos, George
![](/fileadmin/_processed_/c/4/csm_ref_2b5fcd9a3b.png)
Application of percentile color intensities of borehole images for automatic fluorite grade assessment
Li, Enming; Segarra, Pablo; Sanchidrián, José Ángel; Gómez, Santiago; Fernandez, Alberto; Navarro, Rafael; Bernardini, Maurizio
![](/fileadmin/_processed_/e/5/csm_1-s2.0-S0169136823005061-main_a15dd090c3.png)
Rock mass structural recognition from drill monitoring technology in underground mining using discontinuity index and machine learning techniques
Fernandez, Alberto; Sanchidrián, José A. ; Segarra, Pablo; Gómez, Santiago; Li, Enming; Navarro, Rafael
![](/fileadmin/_processed_/9/1/csm_1-s2.0-S2095268623000368-main_cc1f0445be.png)
Towards Managing Uncertain Geo-Information for Drilling Disasters Using Event Tracking Sensitivity Analysis
Tavakoli, Siamak; Poslad, Stefan; Fruhwirth, Rudolf; Winter, Martin; Zeiner, Herwig
![](/fileadmin/_processed_/7/2/csm_sensors-23-04292-v2_8d47c12b8f.png)
D*+: A Risk Aware Platform Agnostic Heterogeneous Path Planner
Karlsson, Samuel; Koval, Anton; Kanellakis, Christoforos; Nikolakopoulos, George
![](/fileadmin/_processed_/9/2/csm_dsp_14a387fd26.png)
FLIE: First-Look Enabled Inspect-Explore Autonomy Toward Visual Inspection of Unknown Distributed and Discontinuous Structures
Kottayam Viswanathan, Vignesh; Satpute, Sumeet; Nikolakopoulos, George
![](/fileadmin/_processed_/9/c/csm_flie_3f1e4e43b2.png)
Evaluation of Lidar-based 3D SLAM algorithms in SubT environment
Anton, Koval; Christoforos, Kanellakis; George, Nikolakopoulos
![](/fileadmin/_processed_/3/8/csm_lio_evaluation_1498000162.png)
Multi-Stage NMPC for a MAV based Collision Free Navigation Under Varying Communication Delays
Papadimitriou, Andreas; Jafari, Hedyeh;Sharif Mansouri, Sina; Nikolakopoulos, George
![](/fileadmin/_processed_/a/0/csm_multis-stage_nmpc_53e9351bea.png)
Prototype of Instrumented Rock Bolt for Continuous Monitoring of Roof Fall Hazard in Deep Underground Mines
Fuławka, Krzysztof ; Pytel, Witold ; Szumny, Marcin ; Mertuszka, Piotr ; Palac-Walko, Bogumila ; Hartlieb, Philipp ; Jakić, Michel ; Nöger, Michael
![](/fileadmin/_processed_/c/b/csm_Prototype_of_Instrumented_Rock_Bolt_for_Continuous_cee4b56517.png)
Automatic fluorite grade identification using borehole images and machine learning-based models
Li, Enming ; Segarra, Pablo ; Sanchidrián, José A. ; Gómez, Santiago ; Fernandez, Alberto ; Navarro, Rafael ; Bernardin, Maurizio
![](/fileadmin/_processed_/3/4/csm_Zenodo_232435ae5c.png)
Towards Energy Efficient Autonomous Exploration of Mars Lava Tube with a Martian Coaxial Quadrotor
Patel, Akash; Karlsson, Samuel; Lindqvist, Bjorn; Kanellakis, Christoforos; Agha-Mohammadi, Ali-Akbar; Nikolakopoulos, George
![](/fileadmin/_processed_/2/2/csm_Towards_energy_efficient_autonomous_exploration_of_Mars_lava_d7b496a9a1.png)
Roof Fall Hazard Monitoring and Evaluation — State-of-The-Art Review
Fuławka, Krzysztof; Stolecki, Lech; Szumny, Marcin; Pytel, Witold; Jaskiewicz-Proc, Izabela; Jakic, Michel; Nöger, Michael; Hartlieb, Philipp
![](/fileadmin/_processed_/4/d/csm_Fulawka__Stolecki_et_al._2022_-_Roof_Fall_Hazard_Monitoring_2361661fc2.png)
Ensuring Robot-Human Safety for the BD Spot Using Active Visual Tracking and NMPC With Velocity Obstacles
Karlsson, Samuel; Lindqvist, Björn; Nikolakopulos, George
![](/fileadmin/_processed_/8/c/csm_Ensuring_Robot-Human_Safety_for_the_BD_Spot_Using_Active_Visual_Tracking_and_NMPC_With_Velocity_Obstacles_a94ed3c31b.png)
The Tailings Storage Facility (TSF) stability monitoring system using advanced big data analytics on the example of the Zelazny Most Facility
Koperska, Wioletta; Stachowiak, Maria; Duda-Mróz, Natalia; Stefaniak, Paweł; Jachnik, Bartosz; Bursa, Bartłomiej; Stefanek, Paweł
![](/fileadmin/_processed_/e/c/csm_The_Tailings_Storage_Facility__TSF__stability_monitoring_system_using_advanced_big_data_analytics..._643e8e3fee.png)
Dataset collection from a SubT environment
Koval, Anton; Karlsson, Samuel; Mansouri, Sina Sharif; Kanellakis, Christoforos; Tevetzidis, Ilias; Haluska, Jakub; Agha-mohammadi, Ali-akbar; Nikolakopoulos, George
![](/fileadmin/_processed_/5/8/csm_Dataset_collection_from_a_SubT_environment_dae87f13dc.png)
Pangea: An MLOps Tool for Automatically Generating Infrastructure and Deploying Analytic Pipelines in Edge, Fog and Cloud Layers
Minon, Raul; Diaz-de-Arcaya, Josu; Torre-Bastida, Ana I.; Hartlieb, Philipp
![](/fileadmin/_processed_/f/1/csm_Minon__Diaz-de-Arcaya_et_al._2022_-_Pangea_An_MLOps_Tool_6ebbc72c00.png)
Multimodality robotic systems: Integrated combined legged-aerial mobility for subterranean search-and-rescue
Lindqvist, Björn; Karlsson, Samuel; Koval, Anton; Tevetzidis, ilias; Haluška, Jakub; Kanellakis, Christoforos; Agha-mohammadi, Ali-akbar; Nikolakopoulos, George
![](/fileadmin/_processed_/d/b/csm_Multimodality_robotic_systems_883193e568.png)
Towards Autonomous Aerial Scouting Using Multi-Rotors in Subterranean Tunnel Navigation
Kanellakis, Christoforos; Karvelis, S. Petros; Mansouri, Sina Sharif; Agha-Mohammadi, Ali-Akbar; Nikolakopoulos, George
![](/fileadmin/_processed_/b/4/csm_Towards_Autonomous_Aerial_Scouting_Using_Multi-Rotors_in_Subterranean_Tunnel_Navigation_0e083500d4.png)
Range-aided ego-centric collaborative pose estimation for multiple robots
Papadimitriou, Andreas; Sharif Mansouri, Sina; Nikolakopoulos, George
![](/fileadmin/_processed_/1/9/csm_Range-aided_ego-centric_collaborative_9d77b2e31c.png)
External force estimation and disturbance rejection for Micro Aerial Vehicles
Papadimitriou, Andreas; Jafari, Hedyeh; Sharif Mansouri, Sina; Nikolakopoulos, George
![](/fileadmin/_processed_/3/1/csm_External_force_estimation_and_disturbance_rejection_72bf89d1ae.png)
Predicting rock fragmentation based on drill monitoring: A case study from Malmberget mine, Sweden
Manzoorn,Sohail; Danielsson,Makus; Söderström,Erik; Schunnesson,Håkan; Gustafson,Anna; Fredriksson,Håkan: Johansson,Daniel
![](/fileadmin/_processed_/f/9/csm_Predicting_rock_fragmentation_based_on_drill_monitoring_A_case_study_from_Malmberget_mine_Sweden_80d5f77df6.png)
COMPRA: A COMPact Reactive Autonomy framework for subterranean MAV based search-and-rescue operations
Lindqvist, Björn; Kanellakis, Christoforos; Mansouri, Sina Sharif; Agha-mohammadi, Ali-akbar; Nikolakopoulos, George
![](/fileadmin/_processed_/f/b/csm_COMPRA_A_COMPact_Reactive_Autonomy_framework_for_subterranean_MAV_based_search-and-rescue_operations_42ec8449b6.png)
Experimental evaluation of autonomous map-based Spot navigation in confined environments
Koval, Anton; Karlsson, Samuel; Nikolakopoulos, George
![](/fileadmin/_processed_/b/d/csm_Experimental_evaluation_of_autonomous_map-based_Spot_navigation_in_d1474f171e.png)
A Scalable Distributed Collision Avoidance Scheme for Multi-agent UAV systems
Lindqvist, Bjorn; Sopasakis, Pantelis; Nikolakopoulos, George
![](/fileadmin/_processed_/4/6/csm_scalable_nmpc_43a5b98a38.png)
A Decentralized Sensor Fusion Scheme for Multi Sensorial Fault Resilient Pose Estimation
Mukherjee, Moumita; Banerjee, Avijit; Papadimitriou, Andreas; Sharif Mansouri, Sina; Nikolakopoulos, George
![](/fileadmin/_processed_/9/6/csm_A_Decentralized_Sensor_Fusion_Scheme_for_Multi_Sensorial_a6960b9c0f.png)
Reactive Navigation of an Unmanned Aerial Vehicle with Perception-based Obstacle Avoidance Constraint
Lindqvist, Björn; Sharif Mansouri, Sina; Haluška, Jakub; Nikolakopoulos, George
![](/fileadmin/_processed_/7/5/csm_Reactive_Navigation_of_an_Unmanned_Aerial_Vehicle_With_Perception-Based_Obstacle_Avoidance_Constraints_3cd1cf1926.png)
Aerial Thermal Image based Convolutional Neural Networks for Human Detection in SubT Environments
Koval, Anton; Sharif Mansouri, Sina; Kanellakis, Christoforos; Nikolakopoulos, George
![](/fileadmin/_processed_/6/b/csm_aerial_thermal_aeebbbb76b.png)
Recognition of LHD Position and Maneuvers in Underground Mining Excavations—Identification and Parametrization of Turns
Witulska, Justyna; Stefaniak, Paweł; Jachnik, Bartosz; Skoczylas, Artur; Śliwiński, Paweł; Dudzik, Marek
![](/fileadmin/_processed_/9/6/csm_Recognition_of_LHD_Position_and_Maneuvers_in_Underground_Mining_Excavations-Identification_and_Parametrization_of_Turns_6107186906.png)
Exploration-RRT: A multi-objective Path Planning and Exploration Framework for Unknown and Unstructured Environments
Lindqvist, Björn; Agha-mohammadi, Ali-akbar; Nikolakopoulos, George
![](/fileadmin/_processed_/4/f/csm_Exploration-RRT_A_multi_objective_Path_Planning_and_Exploration_Framework_for_Unknown_and_Unstructured_Environments_64dcee5455.png)
Geometry Aware NMPC Scheme for Morphing Quadrotor Navigation in Restricted Entrances
Papadimitriou, Andreas; Mansouri, Sina Sharif; Kanellakis, Christoforos; Nikokalopoulos, George
![](/fileadmin/_processed_/6/3/csm_Geometry_Aware_NMPC_Scheme_for_Morphing_Quadrotor_Navigation_in_Restricted_Entrances_2c92c64ded.png)