Dimos Tzoumanikas — accepted AI-conference papers

2025

Scalable Outdoors Autonomous Drone Flight with Visual-Inertial SLAM and Dense Submaps Built without LiDAR

Sebastián Barbas Laina, Simon Boche, Sotiris Papatheodorou, Dimos Tzoumanikas, Simon Schaefer, Hanzhi Chen +1

IROS 2025

Autonomous navigation is needed for several robotics applications. In this paper we present an autonomous Micro Aerial Vehicle (MAV) system which purely relies on cost-effective and light-weight passive visual and inertial sensors to perform large-scale autonomous navigation in outdoor, unstructured

Cited by 3 Source ↗code ↗Scholar ↗

2023

Finding Things in the Unknown: Semantic Object-Centric Exploration with an MAV

Sotiris Papatheodorou, Nils Funk, Dimos Tzoumanikas, Christopher Choi, Binbin Xu, Stefan Leutenegger

ICRA 2023poster

Exploration of unknown space with an autonomous mobile robot is a well-studied problem. In this work we broaden the scope of exploration, moving beyond the pure geometric goal of uncovering as much free space as possible. We believe that for many practical applications, exploration should be context…

Cited by 23 Source ↗Scholar ↗

2020

Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing

Dimos Tzoumanikas, Felix Graule, Qingyue Yan, Dhruv Shah, Marija Popovic, Stefan Leutenegger

RSS 2020poster

Aerial manipulation aims at combining the maneuverability of aerial vehicles with the manipulation capabilities of robotic arms. This, however, comes at the cost of the additional control complexity due to the coupling of the dynamics of the two systems. In this paper we present a Nonlinear Model Pr…

Cited by 70 Source ↗PDF ↗Scholar ↗

2020

Fast Frontier-based Information-driven Autonomous Exploration with an MAV

Anna Dai, Sotiris Papatheodorou, Nils Funk, Dimos Tzoumanikas, Stefan Leutenegger

ICRA 2020poster

Exploration and collision-free navigation through an unknown environment is a fundamental task for autonomous robots. In this paper, a novel exploration strategy for Micro Aerial Vehicles (MAVs) is presented. The goal of the exploration strategy is the reduction of map entropy regarding occupancy pr…

Cited by 143 Source ↗Scholar ↗

2020

Nonlinear MPC with Motor Failure Identification and Recovery for Safe and Aggressive Multicopter Flight

Dimos Tzoumanikas, Qingyue Yan, Stefan Leutenegger

ICRA 2020poster

Safe and precise reference tracking is a crucial characteristic of Micro Aerial Vehicles (MAVs) that have to operate under the influence of external disturbances in cluttered environments. In this paper, we present a Nonlinear Model Predictive Control (NMPC) that exploits the fully physics based non…

Cited by 25 Source ↗Scholar ↗

2019

Characterizing Visual Localization and Mapping Datasets

Sajad Saeedi, Eduardo D C Carvalho, Wenbin Li, Dimos Tzoumanikas, Stefan Leutenegger, Paul H J Kelly +1

ICRA 2019poster

Benchmarking mapping and motion estimation algorithms is established practice in robotics and computer vision. As the diversity of datasets increases, in terms of the trajectories, models, and scenes, it becomes a challenge to select datasets for a given benchmarking purpose. Inspired by the Wassers…

Cited by 30 Source ↗Scholar ↗

2019

MID-Fusion: Octree-based Object-Level Multi-Instance Dynamic SLAM

Binbin Xu, Wenbin Li, Dimos Tzoumanikas, Michael Bloesch, Andrew Davison, Stefan Leutenegger

ICRA 2019poster

We propose a new multi-instance dynamic RGB-D SLAM system using an object-level octree-based volumetric representation. It can provide robust camera tracking in dynamic environments and at the same time, continuously estimate geometric, semantic, and motion properties for arbitrary objects in the sc…

Cited by 240 Source ↗code ↗Scholar ↗

2015

Aerial robotic tracking of a generalized mobile target employing visual and spatio-temporal dynamic subject perception

Christos Papachristos, Dimos Tzoumanikas, Anthony Tzes

IROS 2015poster

This paper proposes a methodology for visual tracking of a dynamic generalized subject within an unknown map, by relying on its perception as a separate entity which can be distinguished spatially and visually from its environment. To this purpose, a 3D-representation of the visible scenery is exami…

Cited by 17 Source ↗Scholar ↗