AIConfPaper
← Search

Panos Marantos

4 accepted papers

2021

Modeling, Gait Sequence Design, and Control Architecture of BADGER Underground Robot

Panagiotis Vartholomeos, Panos Marantos, George C. Karras, Elisabeth Menendez, Marcos Rodriguez, Santiago Martínez de la Casa Díaz +1
RA-L 2021

This letter presents the dynamic modeling, the gait sequence design, and the control architecture of the BADGER autonomous underground robot. BADGER is a modular and articulated robotic mechanism which employs inchworm biomimetic motion to drill and propel within the soil. It is used to drill and ma

Cited by 14Source ↗Scholar ↗
2018

A Robust Model Predictive Control Approach for Autonomous Underwater Vehicles Operating in a Constrained Workspace

Shahab Heshmati-alamdari, George C. Karras, Panos Marantos, Kostas J. Kyriakopoulos
ICRA 2018poster

This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards specific way points. Various limitations such as: obstacles, wor…

Cited by 27Source ↗Scholar ↗
2015

Autonomous model-free landing control of small-scale flybarless helicopters

Panos Marantos, George C. Karras, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
ICRA 2015poster

This paper proposes an autonomous landing scheme for a small-scale flybarless helicopter equipped with low-cost navigation sensors. The main contribution of this paper is the design of a model-free motion controller that guarantees autonomous landing with prescribed transient and steady state respon…

Cited by 5Source ↗Scholar ↗
2015

Quadrotor landing on an inclined platform of a moving ground vehicle

Panagiotis Vlantis, Panos Marantos, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
ICRA 2015poster

In this work we study the problem of landing a quadrotor on an inclined moving platform. The aerial robot employs an forward looking on-board camera to detect and observe the landing platform, which is carried by a mobile robot moving independently on an inclined surface. The platform may also be ti…

Cited by 99Source ↗Scholar ↗