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1220 Prescribed Performance Adaptive Control for Multi-Input Multi-Output Affine in the Control Nonlinear Systems Charalampos P. Bechlioulis and George A. RovithakisChristoforos Mavrogiannis, Charalampos P. Bechlioulis, Minas V. Liarokapis, and Kostas J. Kyriakopoulos. Task-specific grasp selection for underactuated ...Ioannis M. Delimpaltadakis, Charalampos P. Bechlioulis an d Kostas J. Kyriakopoulos, Fellow, IEEE Abstract In this paper, we consider the predecessor-following control problem for a platoon of car ...A novel motion planning scheme for optimal navigation in unknown workspaces is proposed in this letter. Based upon the Artificial Harmonic Potential Fields (AHPFs) theory, a robust framework for provably correct (i.e., safe and globally convergent) navigation is enhanced through Integral Reinforcement Learning (IRL)1 to obtain a provably complete solution for optimal motion planning in unknown ...In this paper, we propose a visual servoing scheme that imposes predefined performance specifications on the image feature coordinate errors and satisfies the visibility constraints that inherently arise owing to the camera's limited field of view, ...i10-index. 61. 50. Bechlioulis Charalampos. Associate Professor, Department of Electrical and Computer Engineering, University of Patras. Verified email at upatras.gr - Homepage.A environment built in Matlab for image Based Visual Servoing (IBVS) simulation studies. Moreover, the Prescribed Performance Image Based Visual Servoing (PP-IBVS) controller proposed in ''Prescribed performance image based visual servoing under field of view constraints, Shahab Heshmati-alamdari, Charalampos P Bechlioulis, Minas V Liarokapis, Kostas J Kyriakopoulos IEEE/RSJ International ...Farhad Mehdifar, Lars Lindemann, Charalampos P. Bechlioulis, and Dimos V. Dimarogonas Abstract—This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying out-put constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils66 RobustQImageg—asedQVisualQServoingQWithQPrescribedQPerformanceQUnderQFieldQofQViewQConstraintshQ IEEEnTransactionsnonnRoboticsfQ2019fQmofQkjpmgkjqjCharalampos P Bechlioulis 1 , Zoe Doulgeri, George A Rovithakis. Affiliation 1 Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Greece. [email protected]; PMID: 20923732 DOI: 10.1109/TNN.2010.2076302 Abstract In this paper, we address unresolved issues in robot force/position tracking including the ...ICRA 2021: 9155-9160. [c43] Charalampos P. Bechlioulis, Panagiotis Vlantis, Kostas J. Kyriakopoulos: Motion Coordination of Multiple Unicycle Robotic Vehicles under Operational Constraints in Obstacle-Cluttered Workspaces.Panagiotis Rousseas, George C. Karras, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos Electrical Engineering Research output : Contribution to journal › Article › peer-reviewFingerprint Dive into the research topics of 'Optimal robot motion planning in constrained workspaces using reinforcement learning'. Together they form a unique fingerprint.The connectivity of distributed networked multirobot systems is a crucial operational specification, since the involved robots interact/communicate locally only with their immediate neighbors.Charalampos P Bechlioulis 1 , Zoe Doulgeri, George A Rovithakis. Affiliation 1 Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Greece. [email protected]; PMID: 20923732 DOI: 10.1109/TNN.2010.2076302 Abstract In this paper, we address unresolved issues in robot force/position tracking including the ...Charalampos P. Bechlioulis was born in Arta, Greece, in 1983. He is currently a postdoctoral researcher in the Control Systems Laboratory at the School of Mechanical Engineering of the National Technical University of Athens.Minas Liarokapis Charalampos Bechlioulis Kostas J Kyriakopoulos. 2014, IEEE International Conference on Robotics and Automation (ICRA) The majority of the works on grasping consider both object as well as robot hand parameters to be accurately known and do not take into account the constraints imposed by the robot hand. In this paper, a ...Charalampos P. Bechlioulis is an academic researcher from National Technical University of Athens. The author has contributed to research in topic(s): Robustness (computer science) & Adaptive control. The author has an hindex of 20, co-authored 94 publication(s) receiving 3468 citation(s).Shahab Heshmati-Alamdari, Charalampos P. Bechlioulis, George C. Karras and Kostas J. Kyriakopoulos Abstract—This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipu-lator Systems (UVMSs) in a constrained workspace with static obstacles, where the coordination relies solely on …In this work, a hybrid control scheme is presented in order to address the navigation problem for a planar robotic platform of arbitrary shape that is moving inside an obstacle cluttered workspace. Trakas, Andreas Tantoulas and Charalampos P. Bechlioulis Link: https://www.mdpi.com/2075-1702/11/11/984. MDPI provides article reprints in high quality with ...Most widely held works by Charalampos P Bechlioulis Reconfigurable multi-robot coordination with guaranteed convergence in obstacle cluttered environments under …Charalampos P. Bechlioulis, Dimos V. Dimarogonas and Kostas J. Kyriakopoulos Abstract In this paper, we consider the longitudinal control problem for a platoon of vehicles with …A Robust Interaction Control Approach for Underwater Vehicle Manipulator Systems Shahab Heshmati-Alamdaria,, Charalampos P. Bechlioulis a, George C. Karras , Alexandros Nikou b, Dimos V. Dimarogonas , Kostas J. Kyriakopoulosa aControl Systems Lab, Department of Mechanical Engineering, National Technical University of Athens, 9 Heroon Polytechniou …1. Introduction. The navigation of autonomous robots in cluttered environments is a widely studied topic in the field of robotics. Popular methodologies that have been employed in the related literature to address it include, but are not limited to, configuration space decomposition approaches [1,2]; probabilistic sampling methods …Charalampos P. Bechlioulis, Student Member, IEEE, and George A. Rovithakis , Senior Member, IEEE Abstract— A universal controller is designed for cascade systems,Bechlioulis and Rovithakis, 2008 Bechlioulis C.P., Rovithakis G.A., Robust adaptive control of feedback linearizable mimo nonlinear systems with prescribed performance, IEEE Transactions on Automatic Control 53 (9) (2008) 2090 – 2099. Google ScholarIn this work, we consider the problem of coordinating the motion of a platoon of unicycle robots navigating inside an obstacle-cluttered workspace. Original language: English (US) Title of host publication: 2018 European Control Conference, ECC 2018: Publisher: Institute of Electrical and Electronics Engineers Inc.Path planning is general problem of mobile robots, which has special characteristics when applied to marine applications. In addition to avoid colliding with obstacles, in marine scenarios, environment conditions such as water currents or wind need to be taken into account in the path planning process. In this paper, several solutions based on the Fast …Simon Donald* Search in all parts of an author's name (results contain Simon, Donald M. and Donaldson, Simon Kirwan).1 ene 2020 ... ... Bechlioulis, Charalampos P.; Marantos, Panos et al. Autonomous Underwater Vehicles. Institution of Engineering and Technology, 2020. p. 15 ...In this work, we consider the problem of coordinating the motion of a platoon of unicycle robots navigating inside an obstacle-cluttered workspace.Charalampos Bechlioulis. 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) During the last few decades, the 1-D longitudinal control problem of Automated Highway Systems (AHS) has become an active research area in automatic control (see - and the references therein). Unlike human drivers that are not …National Technical University of Athens. Athens, Greece ...The paper: ``Charalampos P. Bechlioulis and George A. Rovithakis, “Robust Adaptive Control of Feedback Linearizable MIMO Nonlinear Systems with Prescribed ...Charalampos P. Bechlioulis. Control Systems Lab, School of Mechanical Engineering, National Technical University of Athens, Zografou, Greece, Shahab Heshmati-alamdari. …Vlachos, C, Rousseas, P, Bechlioulis, CP & Kyriakopoulos, KJ 2023, Reinforcement Learning-Based Optimal Multiple Waypoint Navigation. in Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Proceedings - IEEE International Conference on Robotics and Automation, vol. 2023-May, Institute of Electrical and …AU - Bechlioulis, Charalampos P. AU - Kyriakopoulos, Kostas J. PY - 2013. Y1 - 2013. N2 - This paper has presented approaches towards the problem of underwater autonomous structure inspection. It has analysed several approaches for the acoustic sensor analysis, showing advantages and disadvantages according to the type of environment.Charalampos Bechlioulis Associate Professor at University of Patras Greece 77 followers 67 connections Join to view profile University of Patras Aristoteleion Panepistimion Thessalonikis About... Charalampos Bechlioulis Associate Professor at Constantinos Vrohidis, Charalampos P. Bechlioulis, KCharalampos P Bechlioulis 1 , Kostas J Kyri
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![[C273] Farhad Mehdifar, Lars Lindemann, Charalampos P. Bechlioulis a.](/img/300x450/1281996608462.webp)
Bechlioulis Charalampos P et al. A distributed control and parameter estimation protocol with prescribed performance for homogeneous lagrangian multi-agent systems Autonomous Robotsi10-index. 61. 50. Bechlioulis Charalampos. Associate Professor, Department of Electrical and Computer Engineering, University of Patras. Verified email at upatras.gr - Homepage.In this paper, a novel method based on Artificial Potential Field (APF) theory is presented, for optimal motion planning in fully-known, static workspaces, for multiple final goal configurations. Optimization is achieved through a Reinforcement Learning (RL) framework. More specifically, the parameters of the underlying potential field are ... Konstantinos I. Alevizos, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos Electrical Engineering Research output : Contribution to journal › Article › peer-reviewCharalampos P. Bechlioulis. Department of Electrical & Computer Engineering, Aristotle University of Thessaloniki, 54124 Thessaloniki, Greece. Search for more papers by this author. George A. Rovithakis, Corresponding Author. George A. …Charalampos P. Bechlioulis, Student Member, IEEE, and George A. Rovithakis , Senior Member, IEEE Abstract— A universal controller is designed for cascade systems,A environment built in Matlab for image Based Visual Servoing (IBVS) simulation studies. Moreover, the Prescribed Performance Image Based Visual Servoing (PP-IBVS) controller proposed in '...29 oct 2020 ... Panagiotis Rousseas, Charalampos P. Bechlioulis and Kostas J. Kyriakopoulos. Abstract—In this work, a novel solution to the optimal motion ...Trakas, Andreas Tantoulas and Charalampos P. Bechlioulis Link: https://www.mdpi.com/2075-1702/11/11/984. MDPI provides article reprints in high quality with ...Karras, George C. ; Bechlioulis, Charalampos P. ; Fourlas, George K. et al. / Formation Control and Target Interception for Multiple Multi-rotor Aerial Vehicles. 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 85-92 (2020 International Conference on ... Charalampos Bechlioulis received a diploma in Electrical and Computer Engineering (2006), a degree in Mathematics (2011) and a PhD in Engineering (2011) from the Aristotle University of Thessaloniki.Trakas, Andreas Tantoulas and Charalampos P. Bechlioulis Link: https://www.mdpi.com/2075-1702/11/11/984. MDPI provides article reprints in high quality with ...In this letter, we consider the problem of prescribed time scale robot navigation. Initially, we treat the problem for a special class of configuration spaces, namely, sphere worlds, proposing a time-varying control scheme that drives the robot from any initial condition to an arbitrary neighborhood of any desired configuration within a predetermined time span, and at the same time prevents ...Robust Adaptive Control of Feedback Linearizable MIMO Nonlinear Systems With Prescribed PerformanceCharalampos P. Bechlioulis; Kostas J. Kyriakopoulos; Robotica. Published on 23 Sep 2020. 0 views XX downloads; XX citations; Displaying 1 - 25 out of 108 Publication ...Apr 2, 2012 · Charalampos P. Bechlioulis, Department of Electrical & Computer Engineering, Aristotle University of Thessaloniki, 54124, Thessaloniki, Greece. E-mail: [email protected] uth.gr Search for more papers by this author Charalampos P. Bechlioulis was born in Arta, Greece, in 1983. He received his diploma in electrical and computer engineering, first in his class, from the Aristotle University of Thessaloniki, Thessaloniki, Greece, in 2006.Charalampos P. Bechlioulis. Control Systems Lab, School of Mechanical Engineering, National Technical University of Athens, Zografou, Greece, Shahab Heshmati-alamdari. …25. i10-index. 61. 50. Bechlioulis Charalampos. Associate Professor, Department of Electrical and Computer Engineering, University of Patras. Verified email at upatras.gr - Homepage. Nonlinear...Charalampos P. Bechlioulis. Department of Electrical & Computer Engineering, Aristotle University of Thessaloniki, 54124 Thessaloniki, Greece. Search for more papers by this author. George A. Rovithakis, Corresponding Author. George A. …Charalampos P. Bechlioulis is an academic researcher from National Technical University of Athens. The author has contributed to research in topic(s): Robustness (computer …In this paper, we propose an optimization scheme for deriving task-specific force closure grasps for underactuated robot hands. Motivated by recent neuroscientific studies on the human grasping behavior, a novel grasp strategy is built upon past analysis regarding the task-specificity of human grasps, that also complies with the recent soft synergy model of underactuated hands.Enter the email address you signed up with and we'll email you a reset link.Jul 4, 2013 · PEER-REVIEWED CONFERENCE PAPERS: [C44] S. Heshmati-Alamdaria, C. P. Bechlioulis, G. C.Karras and K. J. Kyriakopoulos, “Decentralized Impedance Control for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems under Lean Communication”, in 2018 IEEE OES Autonomous Underwater Vehicle Symposium, Porto, Nov 6-9, 2018. Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos: Robust model-free formation control with prescribed performance and connectivity maintenance for nonlinear multi-agent …A environment built in Matlab for image Based Visual SeCharalampos P. Bechlioulis, Fotis Giagkas, George C. Ka
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Funnel Control Under Hard and Soft Output Constraints (extended version) Farhad Mehdifar, Charalampos P. Bechlioulis and Dimos V. Dimarogonas Abstract—This paper proposes a funnel control method1. Introduction. The navigation of autonomous robots in cluttered environments is a widely studied topic in the field of robotics. Popular methodologies that have been employed in the related literature to address it include, but are not limited to, configuration space decomposition approaches [1,2]; probabilistic sampling methods …May 22, 2019 · In this paper, we propose a visual servoing scheme that imposes predefined performance specifications on the image feature coordinate errors and satisfies the visibility constraints that inherently arise owing to the camera's limited field of view, despite the inevitable calibration and depth measurement errors. Its efficiency is demonstrated via comparative experimental and simulation studies. Bechlioulis Charalampos P et al. A distributed control and parameter estimation protocol with prescribed performance for homogeneous lagrangian multi-agent systems Autonomous RobotsThis article addresses the problem of cooperative object transportation for multiple underwater vehicle manipulator systems (UVMSs) in a constrained workspace with static obstacles, where the coordination relies solely on implicit communication arising from the physical interaction of the robots with the commonly grasped object.Konstantinos I. Alevizos, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos Electrical Engineering Research output : Contribution to journal › Article › peer-reviewThe rapid increase of private vehicles combined with the limited capabilities of the urban road infrastructure has made congestion one of the main problems of major cities worldwide, having a severe impact on both the economy and the environment.Associate Professor, Department of Electrical and Computer Engineering, University of Patras - Cited by 6012 - Nonlinear control - System ...In this paper, we propose a visual servoing scheme that imposes predefined performance specifications on the image feature coordinate errors and satisfies the visibility constraints that inherently arise owing to the camera's limited field of view, ... In this paper, we consider the formation control problem for multi-agent systems with unknown nonlinearities and disturbances, under an undirected communication protocol.Charalampos P Bechlioulis 1 , Zoe Doulgeri, George A Rovithakis Affiliation 1 Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Greece. [email protected]Associate Professor, Department of Electrical and Computer Engineering, University of Patras - Cited by 5,351 - Nonlinear control - System identification - Multi-agent systems - Unmanned robotic platforms - Visual servoingCharalampos Bechlioulis Shahab Heshmati-alamdari Kostas Kyriakopoulos — This paper addresses the tracking control problem of 3-D trajectories for underactuated underwater robotic vehicles. Our recent theoretical results on the prescribed performance control of fully actuated nonlinear systems are innovatively extended on the control of the ...1220 Prescribed Performance Adaptive Control for Multi-Input Multi-Output Affine in the Control Nonlinear Systems Charalampos P. Bechlioulis and George A. Rovithakis A environment built in Matlab for image Based Visual Servoing (IBVS) simulation studies. Moreover, the Prescribed Performance Image Based Visual Servoing (PP-IBVS) controller proposed in '...Two robust adaptive control schemes for single-input single-output (SISO) strict feedback nonlinear systems possessing unknown nonlinearities, capable of guaranteeing prescribed performance bounds are presented in this paper. The first assumes knowledge of only the signs of the virtual control coefficients, while in the second we relax this assumption by …The connectivity of distributed networked multirobot systems is a crucial operational specification, since the involved robots interact/communicate locally only with their immediate neighbors.Charalampos P. Bechlioulis, Student Member, IEEE, and George A. Rovithakis, Senior Member, IEEE Abstract— A novel robust adaptive controller for multi-input multi-output (MIMO) feedback ... AU - Bechlioulis, Charalampos P. AU - Kyriakopoulos, Kostas J. N1 - Funding Information: This work was carried out with an SSF scholarshib funded by the Act Enhancement of human research potential through doctoral research from the resources of the Human Resources Development, Education and Lifelong Learning Program, 2014-2020 with the co ... Charalampos P. Bechlioulis (Member, IEEE) was born in Arta, Greece, in 1983. He received the Diploma degree in electrical and computer engineering (Hons.), the Bachelor of Science degree in mathematics (second in his class), and the Ph.D. degree in electrical and computer engineering from the Aristotle University of Thessaloniki, Thessaloniki ... Oct 20, 2022 · Konstantinos I. Alevizos, Charal