Kostas Kyriakopoulos — accepted AI-conference papers

2026

A Coverage Motion Planning Approach for UVMS-Based Propeller Cleaning in Obstacle-Occluded Environments

Raksi Kopo, Spyridon Tarantos, Fotis Panetsos, Kostas Kyriakopoulos

ICRA 2026poster

This work addresses the problem of underwater propeller cleaning in environments containing obstacles using an Underwater Vehicle Manipulator System (UVMS). Prior propeller-cleaning approaches plan coverage tool paths without explicitly considering the connectivity of the associated Surface-Constrai…

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2026

Optimal Excitation Trajectories for System Identification of Underwater Vehicles

Fotis Panetsos, Kostas Kyriakopoulos

ICRA 2026poster

In this work, we propose a structured methodology for the system identification of underwater vehicles through the design of optimal excitation trajectories. To this end, the trajectories are parameterized using Bezier curves, which ensure smooth and differentiable motion profiles while facilitating…

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