Christoforos Kanellakis

  • Citations Per Year
Learn More
The aim of this article is to present a novel four-degree-of-freedom aerial manipulator allowing a multirotor Unmanned Aerial Vehicle (UAV) to physically interact with the environment. The proposed design, named CARMA (Compact AeRial MAnipulator), is characterized by low disturbances on the UAV flight dynamics, extended workspace (with regard to its(More)
Time delays are one of the most common problems when utilizing a visual sensor for pose estimation or navigation in aerial robotics. Such time delays can grow exponentially as a function of the scene's complexity and the size of the mapping during classical Simultaneous Localization and Mapping (SLAM) strategies. In this article, a robust reconfigurable(More)
This article describes a vision-based manipulation process for real-time moving objects tracking and grasping, aiming at industrial manufacturing and assembling applications. The adoption of computer vision techniques for object recognition is implemented by means of a stereoscopic system using color based methods under OpenCV libraries. The visual software(More)
This article considers the establishment of a dynamic visual sensor from monocular cameras to enable a reconfigurable environmental perception. The cameras are mounted on Micro Aerial Vehicles (MAV) which are coordinated by a Model Predictive Control (MPC) scheme to retain overlapping field of views and form a global sensor with varying baseline. The(More)
In this article a reduced complexity calibration method for Micro-Electro-Mechanical Systems (MEMS) Inertial Measurement Units (IMUs) will be presented, which does not need the rotating reference tables, commonly used in the gyroscope calibration. As it will be presented, in the proposed novel scheme fixed angle rotations have been utilized to observe the(More)
In this article an evaluation of current technology on visual localization systems for underground mining is presented. The proposed study is considered to be the first step among others towards enabling vision-based mine inspection using Unmanned Micro Aerial Vehicles (UAVs). Furthermore, the aim of this article, is to verify applicable and reliable low(More)
We study efficient deterministic executions of parallel algorithms on restartable fail-stop CRCW PRAMs. We allow the PRAM processors to be subject to arbitrary stop failures and restarts, that are determined by an on-line adversary, and that result in loss of private memory but do not affect shared memory. For this model, we define and justify the(More)
This article addresses the problem of Cooperative Coverage Path Planning (C-CPP) for the inspection of complex infrastructures (offline 3D reconstruction) by utilizing multiple Unmanned Autonomous Vehicles (UAVs). The proposed scheme, based on a priori 3D model of the infrastructure under inspection, is able to generate multiple paths for UAVs in order to(More)
  • 1