AIConfPaper
← Search

Constantinos Vrohidis

6 accepted papers

2019

A Motion Planning Scheme for Cooperative Loading Using Heterogeneous Robotic Agents

Michalis Logothetis, Panagiotis Vlantis, Constantinos Vrohidis, George C. Karras, Kostas J. Kyriakopoulos
ICRA 2019poster

In this work, we present a decentralized motion planning and control architecture for the cooperative loading task using heterogeneous robotic agents operating in a cluttered workspace with static obstacles. Initially, we tackle the problem of calculating a set of feasible loading configurations via…

Cited by 2Source ↗Scholar ↗
2019

Orientation-Aware Motion Planning in Complex Workspaces using Adaptive Harmonic Potential Fields

Panagiotis Vlantis, Constantinos Vrohidis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
ICRA 2019poster

In this work, a hybrid control scheme is presented in order to address the navigation problem for a planar robotic platform of arbitrary shape that is moving inside an obstacle cluttered workspace. Given an initial and desired robot configuration, we propose a methodology based on approximate config…

Cited by 8Source ↗Scholar ↗
2019

Reconfigurable Motion Planning and Control in Obstacle Cluttered Environments under Timed Temporal Tasks

Christos K. Verginis, Constantinos Vrohidis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos, Dimos V. Dimarogonas
ICRA 2019poster

This work addresses the problem of robot navigation under timed temporal specifications in workspaces cluttered with obstacles. We propose a hybrid control strategy that guarantees the accomplishment of a high-level specification expressed as a timed temporal logic formula, while preserving safety (…

Cited by 20Source ↗Scholar ↗
2018

Prescribed Time Scale Robot Navigation

Constantinos Vrohidis, Panagiotis Vlantis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
RA-L 2018

In this letter, we consider the problem of prescribed time scale robot navigation. Initially, we treat the problem for a special class of configuration spaces, namely, sphere worlds, proposing a time-varying control scheme that drives the robot from any initial condition to an arbitrary neighborhood

Cited by 25Source ↗Scholar ↗
2018

Robot Navigation in Complex Workspaces Using Harmonic Maps

Panagiotis Vlantis, Constantinos Vrohidis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
ICRA 2018poster

Artificial Potential Fields (APFs) constitute an intuitive tool for designing autonomous robot navigation control schemes, though they generally suffer from the existence of local minima which may trap the robot away from its desired configuration, an issue usually addressed by appropriate offline “…

Cited by 60Source ↗Scholar ↗
2017

Safe decentralized and reconfigurable multi-agent control with guaranteed convergence

Constantinos Vrohidis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
ICRA 2017poster

In this paper, we consider a networked multi-robot system operating in an obstacle populated planar workspace under a single leader-multiple followers architecture. We propose a decentralized reconfiguration strategy of the set of connectivity and formation specifications that assures convergence to…

Cited by 7Source ↗Scholar ↗