Nikolaos Tsiogkas

MineInsight: A Multi-Sensor Dataset for Humanitarian Demining Robotics in Off-Road Environments

The use of robotics in humanitarian demining increasingly involves computer vision techniques to improve landmine detection capabilities. However, in the absence of diverse and realistic datasets, the reliable validation of algorithms remains a challenge for the research community. In this paper, we

MineInsight: A Multi-Sensor Dataset for Humanitarian Demining Robotics in Off-Road Environments

Online Range-Based SLAM Using B-Spline Surfaces

Range-based SLAM is a well-established technique for estimating the pose of a mobile robot operating in an unknown environment. Current state-of-the-art solutions use occupancy-grid maps to represent the world. While fast and accurate, their performance is limited by two facts. First, in an occupanc

B-spline Surfaces for Range-Based Environment Mapping

In this paper, we propose a mapping technique that builds a continuous representation of the environment from range data. The strategy presented here encodes the probability of points in space to be occupied using 2.5D B-spline surfaces. For a fast update rate, the surface is recursively updated as…

Timed-Elastic Bands for Manipulation Motion Planning

Motion planning is one of the main problems studied in the field of robotics. However, it is still challenging for the state-of-the-art methods to handle multiple conditions that allow better paths to be found. For example, considering joint limits, path smoothness and a mixture of Cartesian and joi

An Evolutionary Algorithm for Online, Resource-Constrained, Multivehicle Sensing Mission Planning

Mobile robotic platforms are an indispensable tool for various scientific and industrial applications. Robots are used to undertake missions whose execution is constrained by various factors, such as the allocated time or their remaining energy. Existing solutions for resource constrained multirobot

DCOP: Dubins Correlated Orienteering Problem Optimizing Sensing Missions of a Nonholonomic Vehicle Under Budget Constraints

Advances in robotics have allowed mobile robotic platforms to be deployed in an increased number of field operations. The dynamic nature of the operating environment can constrain the robotic mission execution in terms of required time or energy. Current solutions for providing optimal and optimized

Towards an online heuristic method for energy-constrained underwater sensing mission planning

Autonomous Underwater Vehicles (AUVs) have been widely used in scientific or industrial operations over the past years. AUV missions require the vehicle to perform a set of actions autonomously and return to the operators. These missions are currently mostly planned offline by the human operators. E…