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Nikolaos Papanikolopoulos

32 accepted papers

2025

Efficient 3D Reconstruction in Noisy Agricultural Environments: A Bayesian Optimization Perspective for View Planning

Athanasios Bacharis, Konstantinos D. Polyzos, Henry J. Nelson, Georgios B. Giannakis, Nikolaos Papanikolopoulos
RA-L 2025

3D reconstruction is a fundamental task in robotics that gained attention due to its major impact in a wide variety of practical settings, including agriculture, underwater, and urban environments. While this task can be carried out using a large number of arbitrarily taken 2D images, their processi

Cited by 1Source ↗Scholar ↗
2022

Hovering Locomotion for UAVs With Thrust-Vectoring Control Surfaces

Travis Henderson, Ryan Favour, Ben Hamlen, Imraan Mitha, Erika Bowe, Nikolaos Papanikolopoulos
RA-L 2022

This letter presents a working prototype of a quad-rotor with control surfaces positioned in the propulsive slipstreams. The control surfaces provide a unique potential to redirect the air flow from the propulsion systems and produce lateral forces at a level attitude. This approach to locomotion ha

Cited by 2Source ↗Scholar ↗
2022

Robotic Embodiment of Human-Like Motor Skills via Reinforcement Learning

Luis Guzman, Vassilios Morellas, Nikolaos Papanikolopoulos
RA-L 2022

Current methods require robots to be reprogrammed for every new task, consuming many engineering resources. This work focuses on integrating real and simulated environments for our proposed “Internet of Skills,” which enables robots to learn advanced skills from a small set of expert d

Cited by 9Source ↗Scholar ↗
2022

View Planning Using Discrete Optimization for 3D Reconstruction of Row Crops

Athanasios Bacharis, Henry J. Nelson, Nikolaos Papanikolopoulos
IROS 2022poster

In view planning, the position and orientation of the cameras have been a major contributing factor to the quality of the resulting 3D model. In applications such as precision agriculture, a dense and accurate reconstruction must be obtained quickly while the data is still actionable. Instead of usi…

Cited by 4Source ↗Scholar ↗
2021

Spatial Action Maps Augmented with Visit Frequency Maps for Exploration Tasks

Zixing Wang, Nikolaos Papanikolopoulos
IROS 2021poster

Reinforcement learning has been widely applied in exploration, navigation, manipulation, and other fields. Most of the relevant techniques generate kinematic commands (e.g., move, stop, turn) for agents based on the current state information. However, recent dense action representations based resear…

Cited by 7Source ↗code ↗Scholar ↗
2020

Adaptive Control of Variable-Pitch Propellers: Pursuing Minimum-Effort Operation

Travis Henderson, Nikolaos Papanikolopoulos
ICRA 2020poster

As Unmanned Aerial Vehicles (UAVs) become more commonly used in industry, their performance will continue to be challenged. A performance bottleneck that is crucial to overcome is the design of electric propulsion systems for UAVs that operate in disparate flight modes (e.g., hovering and forward-mo…

Cited by 3Source ↗Scholar ↗
2019

Power-Minimizing Control of a Variable-Pitch Propulsion System for Versatile Unmanned Aerial Vehicles

Travis Henderson, Nikolaos Papanikolopoulos
ICRA 2019poster

In response to an abundance of applications, Unmanned Aerial Vehicles are being called upon to perform missions of high difficulty for increasingly long periods of time. Traditional paradigms of propeller design and actuation are reaching a design ceiling, motivating creative approaches to the desig…

Cited by 10Source ↗Scholar ↗
2018

Extracting Phenotypic Characteristics of Corn Crops Through the Use of Reconstructed 3D Models

Dimitris Zermas, Vassilios Morellas, David Mulla, Nikolaos Papanikolopoulos
IROS 2018poster

Financial and social elements of modern societies are closely connected to the cultivation of corn. Due to its massive production, deficiencies during the cultivation process directly translate to major financial losses. Since proper surveillance in a large scale is still very challenging, the compa…

Cited by 22Source ↗Scholar ↗
2017

Design and experiments for a transformable solar-UAV

Ruben D'Sa, Travis Henderson, Devon Jenson, Michael Calvert, Thaine Heller, Bobby Schulz +2
ICRA 2017poster

Aerial robotic platforms are an increasingly sought-after solution for a variety of sensing, monitoring, and transportation challenges. However, as invaluable as unmanned aerial vehicles (UAVs) have been for these applications, fixed-wing and multi-rotor systems each have individual limitations. Fix…

Cited by 23Source ↗Scholar ↗
2017

Energy characterization of a transformable solar-powered unmanned aerial vehicle

Devon Jenson, Ruben D'Sa, Travis Henderson, Jack Kilian, Bobby Schulz, Nikolaos Papanikolopoulos
IROS 2017poster

Given the wide variety of flight conditions typically encountered by fixed-wing aerial vehicles, the flight performance of a solar-powered unmanned aerial vehicle (SUAV) depends on many factors. Predicting the performance for a given application requires characterization of both system and environme…

Cited by 4Source ↗Scholar ↗
2017

Estimating the Leaf Area Index of crops through the evaluation of 3D models

Dimitris Zermas, Vassilios Morellas, David Mulla, Nikolaos Papanikolopoulos
IROS 2017poster

Financial and social elements of modern societies are closely connected to the cultivation of corn. Due to the massive production of corn, deficiencies during the cultivation process directly translate to major financial losses. The early detection and treatment of crops deficiencies is thus a task…

Cited by 23Source ↗Scholar ↗
2017

Fast segmentation of 3D point clouds: A paradigm on LiDAR data for autonomous vehicle applications

Dimitris Zermas, Izzat Izzat, Nikolaos Papanikolopoulos
ICRA 2017poster

The recent activity in the area of autonomous vehicle navigation has initiated a series of reactions that stirred the automobile industry, pushing for the fast commercialization of this technology which, until recently, seemed futuristic. The LiDAR sensor is able to provide a detailed understanding…

Cited by 439Source ↗Scholar ↗
2017

Learning Discriminative ab-Divergences for Positive Definite Matrices

Anoop Cherian, Panagiotis Stanitsas, Mehrtash Harandi, Vassilios Morellas, Nikolaos Papanikolopoulos
ICCV 2017poster

Symmetric positive definite (SPD) matrices are useful for capturing second-order statistics of visual data. To compare two SPD matrices, several measures are available, such as the affine-invariant Riemannian metric, Jeffreys divergence, Jensen-Bregman logdet divergence, etc.; however, their behavio…

Cited by 6PDF ↗Scholar ↗
2016

Active Constrained Clustering via non-iterative uncertainty sampling

Panagiotis Stanitsas, Anoop Cherian, Vassilios Morellas, Nikolaos Papanikolopoulos
IROS 2016poster

Active Constraint Learning (ACL) is continuously gaining popularity in the area of constrained clustering due to its ability to achieve performance gains via incorporating minimal feedback from a human annotator for selected instances. For constrained clustering algorithms, such instances are integr…

Cited by 4Source ↗Scholar ↗
2016

Automated coding of activity videos from an OCD study

Joshua Fasching, Nicholas Walczak, Gail A. Bernstein, Tasoulla Hadjiyanni, Kathryn Cullen, Vassilios Morellas +1
ICRA 2016

Analysis of behavior using video is a promising approach for identifying risk markers for psychopathology that can be applied in a wide range of populations. Computer vision techniques are needed to automatically code behavior in order to reduce time and effort in these analyses. This paper discusse

Cited by 7Source ↗Scholar ↗
2016

SUAV:Q - An improved design for a transformable solar-powered UAV

Ruben D'Sa, Devon Jenson, Travis Henderson, Jack Kilian, Bobby Schulz, Michael Calvert +2
IROS 2016poster

Throughout the wide range of aerial robot related applications, selecting a particular airframe is often a trade-off. Fixed-wing small-scale unmanned aerial vehicles (UAVs) typically have difficulty surveying at low altitudes while quadrotor UAVs, having more maneuverability, suffer from limited fli…

Cited by 37Source ↗Scholar ↗
2016

Two meter solar UAV: Design approach and performance prediction for autonomous sensing applications

Scott Morton, Nikolaos Papanikolopoulos
IROS 2016poster

This work focuses on the design and predicted performance of a two meter wingspan solar powered unmanned aerial vehicle (UAV). Such a platform would be ideal for distributed robotics applications because it combines the portability and deployment simplicity of a small airframe with the long flight t…

Cited by 6Source ↗Scholar ↗
2015

Automation solutions for the evaluation of plant health in corn fields

Dimitris Zermas, Da Teng, Panagiotis Stanitsas, Michael Bazakos, Daniel Kaiser, Vassilios Morellas +2
IROS 2015poster

The continuously growing need for increasing the production of food and reducing the degradation of water supplies, has led to the development of several precision agriculture systems over the past decade so as to meet the needs of modern societies. The present study describes a methodology for the…

Cited by 41Source ↗Scholar ↗
2015

Classification of motor stereotypies in video

Joshua Fasching, Nicholas Walczak, Vassilios Morellas, Nikolaos Papanikolopoulos
IROS 2015poster

Determining and detecting risk markers for mental illness remains a labor intensive process, requiring vast amounts of observations by clinical professionals. Motor stereotypies, which are defined as involuntary repetitive motor behaviors, invariant in form, that, to an observer, appear to serve no…

Cited by 19Source ↗Scholar ↗
2015

Object classification using dictionary learning and RGB-D covariance descriptors

William J. Beksi, Nikolaos Papanikolopoulos
ICRA 2015poster

In this paper, we introduce a dictionary learning framework using RGB-D covariance descriptors on point cloud data for performing object classification. Dictionary learning in combination with RGB-D covariance descriptors provides a compact and flexible description of point cloud data. Furthermore,…

Cited by 33Source ↗Scholar ↗