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Vasileios Vasilopoulos

12 accepted papers

2026

Far-Field Image-Based Traversability Mapping for a Priori Unknown Natural Environments

Ethan Fahnestock, Erick Fuentes, Samuel Prentice, Vasileios Vasilopoulos, Philip Osteen, Thomas Howard +1
ICRA 2026poster

While navigating unknown environments, robots rely primarily on proximate features for guidance in decision making, such as depth information from lidar or stereo to build a costmap, or local semantic information from images. The limited range over which these features can be used may result in poor…

Cited by 0Source ↗Scholar ↗
2025

Far-Field Image-Based Traversability Mapping for a Priori Unknown Natural Environments

Ethan Fahnestock, Erick Fuentes, Samuel Prentice, Vasileios Vasilopoulos, Philip R. Osteen, Thomas M. Howard +1
RA-L 2025

While navigating unknown environments, robots rely primarily on proximate features for guidance in decision making, such as depth information from lidar to build a costmap, or local semantic information from images. The limited range over which these features can be used may result in poor robot beh

Cited by 2Source ↗code ↗Scholar ↗
2024

HIO-SDF: Hierarchical Incremental Online Signed Distance Fields

Vasileios Vasilopoulos, Suveer Garg, Jinwook Huh, Bhoram Lee, Volkan Isler
ICRA 2024poster

A good representation of a large, complex mobile robot workspace must be space-efficient yet capable of encoding relevant geometric details. When exploring unknown environments, it needs to be updatable incrementally in an online fashion. We introduce HIO-SDF, a new method that represents the enviro…

Cited by 7Source ↗code ↗Scholar ↗
2023

RAMP: Hierarchical Reactive Motion Planning for Manipulation Tasks Using Implicit Signed Distance Functions

Vasileios Vasilopoulos, Suveer Garg, Pedro Piacenza, Jinwook Huh, Volkan Isler
IROS 2023poster

We introduce Reactive Action and Motion Planner (RAMP), which combines the strengths of sampling-based and reactive approaches for motion planning. In essence, RAMP is a hierarchical approach where a novel variant of a Model Predictive Path Integral (MPPI) controller is used to generate trajectories…

Cited by 12Source ↗code ↗Scholar ↗
2022

A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments

Vasileios Vasilopoulos, Sebastian Castro, William Vega-Brown, Daniel E. Koditschck, Nicholas Roy
ICRA 2022poster

We describe a task and motion planning architecture for highly dynamic systems that combines a domain-independent sampling-based deliberative planning algorithm with a global reactive planner. We leverage the recent development of a reactive, vector field planner that provides guarantees of reachabi…

Cited by 3Source ↗Scholar ↗
2022

Reactive Informative Planning for Mobile Manipulation Tasks under Sensing and Environmental Uncertainty

Mariliza Tzes, Vasileios Vasilopoulos, Yiannis Kantaros, George J. Pappas
ICRA 2022poster

In this paper we address mobile manipulation planning problems in the presence of sensing and environmental uncertainty. In particular, we consider mobile sensing manipulators operating in environments with unknown geometry and uncertain movable objects, while being responsible for accomplishing tas…

Cited by 7Source ↗Scholar ↗
2021

Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments

Vasileios Vasilopoulos, Yiannis Kantaros, George J. Pappas, Daniel E. Koditschek
ICRA 2021poster

Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer any rigorous guarantees. In this paper, we propose a novel hy…

Cited by 25Source ↗Scholar ↗
2020

Reactive Semantic Planning in Unexplored Semantic Environments Using Deep Perceptual Feedback

Vasileios Vasilopoulos, Georgios Pavlakos, Sean L. Bowman, J. Diego Caporale, Kostas Daniilidis, George J. Pappas +1
RA-L 2020

This letter presents a reactive planning system that enriches the topological representation of an environment with a tightly integrated semantic representation, achieved by incorporating and exploiting advances in deep perceptual learning and probabilistic semantic reasoning. Our architecture combi

Cited by 34Source ↗Scholar ↗
2018

Sensor-Based Reactive Execution of Symbolic Rearrangement Plans by a Legged Mobile Manipulator

Vasileios Vasilopoulos, T. Turner Topping, William Vega-Brown, Nicholas Roy, Daniel E. Koditschek
IROS 2018poster

We demonstrate the physical rearrangement of wheeled stools in a moderately cluttered indoor environment by a quadrupedal robot that autonomously achieves a user's desired configuration. The robot's behaviors are planned and executed by a three layer hierarchical architecture consisting of: an offli…

Cited by 28Source ↗Scholar ↗
2018

Sensor-Based Reactive Symbolic Planning in Partially Known Environments

Vasileios Vasilopoulos, William Vega-Brown, Omur Arslan, Nicholas Roy, Daniel E. Koditschek
ICRA 2018poster

This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive robot equipped with a gripper and a LIDAR sensor, capable of…

Cited by 38Source ↗Scholar ↗
2016

Quadruped pronking on compliant terrains using a reaction wheel

Vasileios Vasilopoulos, Konstantinos Machairas, Evangelos Papadopoulos
ICRA 2016

While legged locomotion is a rapidly advancing area in robotics, several issues regarding the performance of such robots on deformable ground are still open. In this paper, we generate a pronking gait on a quadruped robot using a controller, which takes into account the effects of ground deformation

Cited by 7Source ↗Scholar ↗
2015

Control and energy considerations for a hopping monopod on rough compliant terrains

Vasileios Vasilopoulos, Iosif S. Paraskevas, Evangelos G. Papadopoulos
ICRA 2015poster

Terrain compliance is a critical parameter for the performance of legged locomotion. In this work, a single actuator monopod robot hopping on rough compliant terrain is considered. Based on our controller for flat compliant terrains, this paper introduces the necessary modifications, which allow the…

Cited by 8Source ↗Scholar ↗