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Ioannis Mandralis

5 accepted papers

2025

Dynamic Quadrupedal Legged and Aerial Locomotion via Structure Repurposing

Chenghao Wang, Kaushik Venkatesh Krishnamurthy, Shreyansh Pitroda, Adarsh Salagame, Ioannis Mandralis, Eric Sihite +2
IROS 2025

Multi-modal ground-aerial robots have been extensively studied, with a significant challenge lying in the integration of conflicting requirements across different modes of operation. The Husky robot family, developed at North-eastern University, and specifically the Husky v.2 discussed in this study

Cited by 0Source ↗Scholar ↗
2025

Quadrotor Morpho-Transition: Learning vs Model-Based Control Strategies

Ioannis Mandralis, Richard M. Murray, Morteza Gharib
IROS 2025

Quadrotor Morpho-Transition, or the act of transitioning from air to ground through mid-air transformation, involves complex aerodynamic interactions and a need to operate near actuator saturation, complicating controller design. In recent work, morpho-transition has been studied from a model-based

Cited by 2Source ↗code ↗Scholar ↗
2025

Self-Supervised Cost of Transport Estimation for Multimodal Path Planning

Vincent Gherold, Ioannis Mandralis, Eric Sihite, Adarsh Salagame, Alireza Ramezani, Morteza Gharib
RA-L 2025

Autonomous robots operating in real environments are often faced with decisions on how best to navigate their surroundings. In this work, we address a particular instance of this problem: how can a robot autonomously decide on the energetically optimal path to follow given a high-level objective and

Cited by 3Source ↗code ↗Scholar ↗
2023

Demonstrating Autonomous 3D Path Planning on a Novel Scalable UGV-UAV Morphing Robot

Eric Sihite, Filip Slezak, Ioannis Mandralis, Adarsh Salagame, Milad Ramezani, Arash Kalantari +2
IROS 2023poster

Some animals exhibit multi-modal locomotion capability to traverse a wide range of terrains and environments, such as amphibians that can swim and walk or birds that can fly and walk. This capability is extremely beneficial for expanding the animal's habitat range and they can choose the most energy…

Cited by 13Source ↗Scholar ↗
2023

Hovering Control of Flapping Wings in Tandem with Multi-Rotors

Aniket Dhole, Bibek Gupta, Adarsh Salagame, Xuejian Niu, Yizhe Xu, Kaushik Venkatesh +4
IROS 2023poster

This work briefly covers our efforts to stabilize the flight dynamics of Northeatern's tailless bat-inspired micro aerial vehicle, Aerobat. Flapping robots are not new. A plethora of examples is mainly dominated by insect-style design paradigms that are passively stable. However, Aerobat, in additio…

Cited by 4Source ↗Scholar ↗