Source: http://www.controlsystemslab.gr/main/members/bechlioulis/
Timestamp: 2019-04-23 14:07:41+00:00

Document:
My main research interests involve the integration of automatic control, robotics, mechatronics and computer science in closed loop schemes (physical computing). In particular, my expertise spans the areas of nonlinear control, system identification, decentralized control of multi-agent systems, un-manned robotic platforms (aerial, ground and underwater), hybrid systems, sensor fusion, artificial vision, visual servoing, real time control and embedded systems.
01/2017 – present Co4Robots: Achieving Complex Collaborative Missions via Decentralized Control and Coordination of Interacting Robots (EU H2020-731869).
Task: Design and implementation of local control/action modules to incorporate interaction, motion and manipulation abilities in heterogeneous robotic systems.
10/2016 – 10/2018 ERMIS: Distributed Adaptive Control of Traffic Congestion (Onassis Foundation).
Task: Design and implementation of distributed adaptive control schemes for traffic lights and navigation systems to regulate traffic congestion.
03/2013 – 05/2016 RECONFIG: Cognitive, Decentralized Coordination of Heterogeneous Multi-Robot Systems via Reconfigurable Task Planning (EU FP7-600825 ICT STREP).
Task: Design and implementation of manipulation and motion control tasks via sensor based and symbolic communication for a cooperating team of agents.
HCUAV: Hellenic Civil Unmanned Air Vehicle (SYNERGASIA GSRT).
Task: Design and implementation of an autopilot assisting and health monitoring system for unmanned aerial vehicles.
PANDORA: Persistent Autonomy through learNing, aDaptation, Observation and ReplAnning (EU FP7-288273 ICT STREP).
Task: Design and implementation of robust control algorithms for autonomous underwater vehicles.
02/2012 – 04/2014 THE: The Hand Embodied (EU FP7-248587 ICT IP).
Task: Design and implementation of human-like grasping and manipulation strategies.
[J30] C. P. Bechlioulis, F. Giagkas, G. C. Karras and K. J. Kyriakopoulos, “Robust Formation Control for Multiple Underwater Vehicles,” Frontiers in Robotics and AI, Under Review, Dec 2018.
[J29] K. Zisis, C. P. Bechlioulis and G. A. Rovithakis, “Control Enabling Adaptive Nonlinear System Identification,” IEEE Transactions on Automatic Control, Under Review, Dec 2018.
[J28] K. Alevizos, C. P. Bechlioulis and K. J. Kyriakopoulos, “Physical Human-Robot Cooperation based on Robust Motion Intention Estimation,” Robotica, Under Review, Dec 2018.
[J27] S. Heshmati-Alamdari, C. P. Bechlioulis, G. C.Karras, and K. J. Kyriakopoulos, “Cooperative Impedance Control for Multiple Underwater Vehicle Manipulator Systems under Lean Communication,” IEEE Journal of Oceanic Engineering, Under Review, Dec 2018.
[J26] I. Dimanidis, C. P. Bechlioulis and G. A. Rovithakis, “Output Feedback Model-Free Prescribed Performance Tracking Control for Uncertain MIMO Nonlinear Systems,” IEEE Transactions on Automatic Control, Under Review, Jul 2018.
[J25] C. P. Bechlioulis, S. Heshmati-Alamdari, G. C.Karras, and K. J. Kyriakopoulos, “Robust Image Based Visual Servoing with Prescribed Performance under Field of View Constraints,” IEEE Transactions on Robotics, Provisionally Accepted, Dec 2018.
[J24] S. Heshmati-Alamdari, C. P. Bechlioulis, G. C.Karras, A. Nikou, D. V. Dimarogonas and K. J. Kyriakopoulos, “A robust interaction control approach for underwater vehicle manipulator systems,” Annual Reviews in Control, vol. 46, pp. 315-325, 2018.
[J23] C. P. Bechlioulis and K. J. Kyriakopoulos, “Collaborative Multi-Robot Transportation in Obstacle-Cluttered Environments via Implicit Communication,” Frontiers in Robotics and AI, DOI: 10.3389/frobt.2018.00090, Jul 2018.
[J22] G. Karras, P. Marantos, C. P. Bechlioulis and K. J. Kyriakopoulos, “Unsupervised On-line System Identification for Underwater Robotic Vehicles,” IEEE Journal of Oceanic Engineering, DOI: 10.1109/JOE.2018.2827678, Mar 2018.
[J21] C. P. Bechlioulis, M. A. Demetriou and K. J. Kyriakopoulos, “A Distributed Control and Parameter Estimation Protocol with Prescribed Performance for Homogeneous Lagrangian Multi-agent Systems”, Autonomous Robots, vol. 42, no. 8, pp. 1525–1541, 2018.
[J20] C. Vrohidis, P. Vlantis, C. P. Bechlioulis, and K. J. Kyriakopoulos, “Prescribed Time Scale Robot Navigation”, IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 1191 – 1198, 2018.
[J19] I. Delimpaltadakis, C. P. Bechlioulis, and K. J. Kyriakopoulos, “Decentralized Platooning with Obstacle Avoidance for Car-like Vehicles with Limited Sensing”, IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 835 – 840, 2018.
[J18] C. Vrohidis, P. Vlantis, C. P. Bechlioulis and K. J. Kyriakopoulos, “Reconfigurable multi-robot coordination with guaranteed convergence in obstacle cluttered environments under local communication”, Autonomous Robots, vol. 42, no. 4, pp. 853–873, 2018.
[J17] C. Verginis, C. P. Bechlioulis, D. V. Dimarogonas and K. J. Kyriakopoulos, “Robust Distributed Control Protocols for Large Vehicular Platoons with Prescribed Transient and Steady State Performance,” IEEE Transactions on Control Systems Technology, vol. 26, no. 1, pp. 299-304, 2017.
[J16] M. Liarokapis, C. P. Bechlioulis, P. Artemiadis, and K. J. Kyriakopoulos, “Deriving Humanlike Trajectories for Robot Arm Hand Systems,” Journal of Mechanisms and Robotics, vol.9, pp. 1-9, 2017.
[J15] P. Marantos, C. P. Bechlioulis and K. J. Kyriakopoulos, “Robust Trajectory Tracking Control for Small-scale Unmanned Helicopters with Model Uncertainties,” IEEE Transactions on Control Systems Technology, vol. 15, no. 6, pp. 2010-2021, 2017.
[J14] M. Guo, C. P. Bechlioulis, K. J. Kyriakopoulos and D. V. Dimarogonas, “Hybrid Control of Multi-agent Systems with Contingent Temporal Tasks and Prescribed Formation Constraints,” IEEE Transactions on Control of Network Systems, vol. 4, no.4, pp. 781-792, 2017.
[J13] C. P. Bechlioulis and G. A. Rovithakis, “Decentralized Robust Synchronization of Unknown High Order Nonlinear Multi-agent Systems with Prescribed Transient and Steady State Performance,” IEEE Transactions on Automatic Control, vol. 62, no. 1, pp. 123-134, 2017.
[J12] C. P. Bechlioulis, G. C. Karras, S. Heshmati-alamdari and K. J. Kyriakopoulos, “Trajectory Tracking with Prescribed Performance for Underactuated Underwater Vehicles under Model Uncertainties and External Disturbances,” IEEE Transactions on Control Systems Technology, vol. 25, no. 2, pp. 429-440, 2017.
[J11] N. Palomeras, C. P. Bechlioulis, (13 co-authors), “Toward persistent autonomous intervention in a subsea panel,” Autonomous Robots, vol. 40, pp. 1279-1306, 2016.
[J10] C. P. Bechlioulis and G. A. Rovithakis, “A Low-Complexity Global Approximation-Free Control Scheme with Prescribed Performance for Unknown Pure Feedback Systems,” Automatica, vol. 50, no. 4, pp. 1217-1226, 2014.
[J9] C. P. Bechlioulis and G. A. Rovithakis, “Reinforcing Robustness of Adaptive Dynamic Surface Control,” International Journal of Adaptive Control and Signal Processing, vol. 27, pp. 323-339, 2013.
[J8] C. P. Bechlioulis and G. A. Rovithakis, “Robust Adaptive Fuzzy Control of Nonaffine Systems Guaranteeing Transient and Steady State Error Bounds,” International Journal of Adaptive Control and Signal Processing, vol. 26, pp. 576-591, 2012.
[J7] C. P. Bechlioulis and G. A. Rovithakis, “A priori Guaranteed Evolution within the Neural Network Approximation Set and Robustness Expansion via Prescribed Performance Control,” IEEE Transactions on Neural Networks and Learning Systems, vol. 23, no. 4, pp. 669-675, 2012.
[J6] C. P. Bechlioulis, Z. Doulgeri, and G. A. Rovithakis, “Guaranteeing Prescribed Performance and Contact Maintenance via an Approximation Free Robot Force/Position Controller,” Automatica, vol. 48, pp. 360-365, 2012.
[J5] C. P. Bechlioulis and G. A. Rovithakis, “Robust Partial-State Feedback Prescribed Performance Control of Cascade Systems with Unknown Nonlinearities,” IEEE Transactions on Automatic Control, vol. 56, no. 9, pp. 2224–2230, 2011.
[J4] C. P. Bechlioulis, Z. Doulgeri, and G. A. Rovithakis, “Neuro-adaptive force/position control with prescribed performance and guaranteed contact maintenance,” IEEE Transactions on Neural Networks, vol. 21, no. 12, pp. 1857–1868, 2010.
[J3] C. P. Bechlioulis and G. A. Rovithakis, “Prescribed performance adaptive control for multi-input multi-output affine in the control nonlinear systems,” IEEE Transactions on Automatic Control, vol. 55, no. 5, pp. 1220–1226, 2010.
[J2] C. P. Bechlioulis and G. A. Rovithakis, “Adaptive control with guaranteed transient and steady state tracking error bounds for strict feedback systems,” Automatica, vol. 45, no. 2, pp. 532–538, 2009.
[J1] C. P. Bechlioulis and G. A. Rovithakis, “Robust adaptive control of feedback linearizable mimo nonlinear systems with prescribed performance,” IEEE Transactions on Automatic Control, vol. 53, no. 9, pp. 2090–2099, 2008.
[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.
[C43] C. P. Bechlioulis, K. J. Kyriakopoulos “Neuro-Adaptive Traffic Congestion Control for Urban Road Networks”, in 2018 European Control Conference, Limassol, Cyprus, June 12-15, 2018.
[C42] C. Vrohidis, P. Vlantis, C. P. Bechlioulis, K. J. Kyriakopoulos, “Prescribed Time Scale Robot Navigation in Dynamic Environments”, in 2018 European Control Conference, Limassol, Cyprus, June 12-15, 2018.
[C41] C. Mavridis, K. Alevizos, C. P. Bechlioulis, K. J. Kyriakopoulos, “Human-Robot Collaboration based on Robust Motion Intention Estimation with Prescribed Performance”, in 2018 European Control Conference, Limassol, Cyprus, June 12-15, 2018.
[C40] P. Vlantis, C. Vrohidis, C. P. Bechlioulis, K. J. Kyriakopoulos “Robot Navigation in Complex Workspaces Using Harmonic Maps”, in 2018 IEEE International Conference on Robotics and Automation, Brisbane, Australia, May 2018.
[C39] C. Vrohidis, C. P. Bechlioulis, K. J. Kyriakopoulos, “Decentralized Reconfigurable Multi-Robot Coordination from Local Connectivity and Collision Avoidance Specifications”, in 2017 World Congress of the International Federation of Automatic Control, Toulouse, France, pp.15798-15803, 2017.
[C38] C. Vrohidis, C. P. Bechlioulis, K. J. Kyriakopoulos, “Safe Decentralized and Reconfigurable Multi-agent Control with Guaranteed Convergence”, in 2017 IEEE International Conference on Robotics and Automation, Singapore, pp. 267-272, 2017.
[C37] C. P. Bechlioulis, M. A. Demetriou, K. J. Kyriakopoulos, “Distributed Control and Parameter Estimation for Homogeneous Lagrangian Multi-agent Systems”, in 2016 IEEE Conference on Decision and Control, Las Vegas, USA, pp. 933-938, 2016.
[C36] P. Vlantis, C. P. Bechlioulis, G. Karras, G. K. Fourlas, K. J. Kyriakopoulos “Fault Tolerant Control for Omni-directional Mobile Platforms with 4 Mecanum Wheels”, in 2016 IEEE International Conference on Robotics and Automation, Stockholm, Sweden, pp. 2395-2400, 2016.
[C35] C. Verginis, C. P. Bechlioulis, D. V. Dimarogonas, K. J. Kyriakopoulos “Decentralized 2-D Control of Vehicular Platoons under Limited Visual Feedback”, in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, pp. 3566-3571, 2015.
[C34] A. Tsiamis, J. Tumova, C. P. Bechlioulis, G. Karras, D. V. Dimarogonas, K. J. Kyriakopoulos “Decentralized Leader-Follower Control under High Level Goals without Explicit Communication”, in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, pp. 5790-5795, 2015.
[C33] A. Tsiamis, C. Verginis, C. P. Bechlioulis, K. J. Kyriakopoulos “Cooperative Manipulation Exploiting only Implicit Communication”, in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, pp. 864-869, 2015.
[C32] R. Muthusamy, C. P. Bechlioulis, K. J. Kyriakopoulos, V. Kyrki, “Task Specific Cooperative Grasp Planning for Decentralized Multi-Robot Systems”, in 2015 IEEE International Conference on Robotics and Automation , Seattle, Washington, USA, pp. 6066-6071, 2015.
[C31] A. Tsiamis, C. P. Bechlioulis, G. Karras, K. J. Kyriakopoulos, “Decentralized Object Transportation by Two Non-holonomic Mobile Robots Exploiting Only Implicit Communication” , in 2015 IEEE International Conference on Robotics and Automation, Seattle, Washington, USA, pp. 171-176, 2015.
[C30] P. Vlantis, P. Marantos, C. P. Bechlioulis, K. J. Kyriakopoulos, “Quadrotor Landing on an Inclined Platform of a Moving Ground Vehicle” , in 2015 IEEE International Conference on Robotics and Automation , Seattle, Washington, USA, pp. 2202-2207, 2015.
[C29] P. Marantos, G. Karras, C. P. Bechlioulis, K. J. Kyriakopoulos, “Autonomous Model-Free Landing Control of Small-Scale Flybarless Helicopters” , in 2015 IEEE International Conference on Robotics and Automation , Seattle, Washington, USA, pp. 5272-5277, 2015.
[C28] C. P. Bechlioulis, K. J. Kyriakopoulos, “Robust Model-Free Formation Control with Prescribed Performance for Nonlinear Multi-Agent Systems”, in 2015 IEEE International Conference on Robotics and Automation, Seattle, Washington, USA, pp. 1268-1273, 2015.
[C27] C. P. Bechlioulis, D. V. Dimarogonas, K. J. Kyriakopoulos, “Robust Control of Large Vehicular Platoons with Prescribed Transient and Steady State Performance” in 2014 IEEE Conference on Decision and Control, Los Angeles, California, USA, pp. 3689-3694, 2014.
[C26] C. P. Bechlioulis, K. J. Kyriakopoulos, “Robust Model-Free Formation Control with Prescribed Performance and Connectivity Maintenance for Nonlinear Multi- Agent Systems” in 2014 IEEE Conference on Decision and Control, Los Angeles, California, USA, pp. 4509-4514, 2014.
[C25] G. Boutselis, C. P. Bechlioulis, M. Liarokapis and K. J. Kyriakopoulos “Task Specific Robust Grasping For Multi-fingered Robot Hands”, in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, pp. 858-863, 2014.
[C24] N. Hurtos, N. Palomeras, M. Carreras, A. Carrera, C. P. Bechlioulis, G. Karras, S. Heshmati-alamdari, K. J. Kyriakopoulos “Sonar-based Chain Following using an Autonomous Underwater Vehicle”, in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois pp. 1978-1983, 2014.
[C23] S. Heshmati-alamdari, C. P. Bechlioulis, M. Liarokapis and K. J. Kyriakopoulos “Prescribed Performance Image Based Visual Servoing under Field of View Constraints”, in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, pp. 2721-2726, 2014.
[C22] C. P. Bechlioulis, M. Liarokapis and K. J. Kyriakopoulos “Robust Model Free Control of Robotic Manipulators with Prescribed Transient and Steady State Performance”, in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, pp. 41-46, 2014.
[C21] P. Marantos, A. Eqtami, C. P. Bechlioulis and K. J. Kyriakopoulos, “A Prescribed Performance Robust Nonlinear Model Predictive Control Framework”, in 2014 IEEE European Control Conference, Strasbourg, France, pp. 2182-2187, 2014.
[C20] G. Boutselis, C. P. Bechlioulis, M. Liarokapis, K. Kyriakopoulos, “An Integrated Approach towards Robust Grasping with Tactile Sensing”, in 2014 IEEE International Conference on Robotics and Automation , Hong Kong, China, pp. 3682-3687, 2014.
[C19] P. Marantos, C. P. Bechlioulis, K. Kyriakopoulos , “Robust Stabilization Control of Unknown Small-Scale Helicopters”, in 2014 IEEE International Conference on Robotics and Automation , Hong Kong, China, pp. 537-542, 2014.
[C18] G. Karras, C. P. Bechlioulis, S. Nagappa, N. Palomeras, K. Kyriakopoulos, M. Carreras, “Motion Control for Autonomous Underwater Vehicles: A Robust Model – Free Approach ”, in 2014 IEEE International Conference on Robotics and Automation , Hong Kong, China, pp. 6529-6534, 2014.
[C17] C. Mavrogiannis, C. P. Bechlioulis, M. Liarokapis, K. Kyriakopoulos, “Task-Specific Grasp Selection for Under-actuated Hands”, in 2014 IEEE International Conference on Robotics and Automation , Hong Kong, China, pp. 3676-3681, 2014.
[C16] F. Maurelli, T. Larkworthy, D. Lane, G.C. Karras, C. P Bechlioulis, K. J. Kyriakopoulos, “Pose-based and velocity-based approaches to autonomous inspection of subsea structures”, in 2013 IEEE-MTS Oceans, San Diego, USA, 2013.
[C15] C. P. Bechlioulis, A. Theodorakopoulos, G. A. Rovithakis, “Output Feedback Stabilization with Prescribed Performance for Uncertain Nonlinear Systems in Canonical Form”, in 2013 IEEE Conference on Decision and Control, Florence, Italy, pp. 5084-5089, 2013.
[C14] G. Karras, C. P. Bechlioulis, M. Leonetti, N. Palomeras, P. Kormushev, K. Kyriakopoulos, D. G. Caldwell, “On-line Identification of Autonomous Underwater Vehicles Through Global Derivative-free Optimization”, in 2013 IEEE International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 3859-3864, 2013.
[C13] G. Karras, C. P. Bechlioulis, H. K. Abdella, T. Larkworthy, K. Kyriakopoulos, D. Lane, “A Robust Sonar Servo Control Scheme for Wall-Following using an Autonomous Underwater Vehicle ” in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 3893-3898, 2013.
[C12] C. P. Bechlioulis, G. Karras, S. Nagappa, N. Palomeras, K. Kyriakopoulos, M. Carreras, “A Robust Visual Servo Control Scheme with Prescribed Performance for an Autonomous Underwater Vehicle”, in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 3879-3884, 2013.
[C11] C. P. Bechlioulis, K. J. Kyriakopoulos,” Robust Prescribed Performance Tracking Control for Unknown Underactuated Torpedo-Like AUVs”, in 2013 European Control Conference , Zurich, Switzerland pp. 4388-4393, 2013.
[C10] C. P. Bechlioulis, G. A. Rovithakis, “Approximation-Free Prescribed Performance Control for Unknown SISO Pure Feedback Systems”, in 2013 European Control Conference, Zurich, Switzerland, pp. 4544-4549, 2013.
[C9] C. P. Bechlioulis and G. A. Rovithakis, “Learning Structural Uncertainties of Nonlinear Systems with RBF Neural Networks via Persistently Exciting Control”, in 2013 Mediterranean Conference on Control and Automation, Crete, Greece, pp. 1532-1537, 2013.
[C8] C. I. Mavrogiannis, C. P. Bechlioulis and K. J. Kyriakopoulos, “Sequential Improvement of Grasp based on Sensitivity Analysis”, in 2013 IEEE International Conference on Robotics and Automation , Karlsruhe, Germany, pp. 1094-1099, 2013.
[C7] C. P. Bechlioulis and G. A. Rovithakis, “Approximation Free Prescribed Performance Control,” in 2011 World Congress of the International Federation of Automatic Control, Milano, Italy, pp. 126-131, 2011.
[C6] C. P. Bechlioulis and G. A. Rovithakis, “Robust Approximation Free Prescribed Performance Control,” in 2011 Mediterranean Conference on Control and Automation , Corfu, Greece, pp. 521-526, 2011.
[C5] C. P. Bechlioulis, Z. Doulgeri, and G. A. Rovithakis, “Model free force/position robot control with prescribed performance,” in 2010 Mediterranean Conference on Control and Automation , Marrakech, Morocco, pp. 377-382, 2010.
[C4] C. P. Bechlioulis and G. A. Rovithakis, “Robust adaptive fuzzy control of nonaffine systems guaranteeing transient and steady state error bounds,” in 2009 Mediterranean Conference on Control and Automation , Thessaloniki, Greece, pp. 862-867, 2009.
[C3] C. P. Bechlioulis, Z. Doulgeri, and G. A. Rovithakis, “Prescribed performance adaptive control for robot force/position tracking,” in 2009 IEEE International Conference on Control Application, Saint Petersburg, Russia, pp. 920-925, 2009.
[C2] C. P. Bechlioulis, Z. Doulgeri, and G. A. Rovithakis, “Robot force/position tracking with guaranteed prescribed performance,” in 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan, pp. 3688-3693, 2009.
[C1] C. P. Bechlioulis and G. A. Rovithakis, “Prescribed performance adaptive control of siso feedback linearizable systems with disturbances,” in 2008 Mediterranean Conference on Control and Automation , Ajaccio, France, pp. 1035-1040, 2008.
[B1] M. V. Liarokapis, C. P. Bechioulis, G. I. Boutselis and K. J. Kyriakopoulos, “A Learn by Demonstration Approach for Closed-Loop, Robust, Anthropomorphic Grasp Planning” in “Human and robot hands: Sensorimotor Synergies to Bridge the Gap between Neuroscience and Robotics”, Matteo Bianchi and Alessandro Moscatelli (Ed.), Springer Series on Touch and Haptic Systems, pp. 127-149, 2015.
[R1] M. V. Liarokapis, C. P. Bechioulis, K. J. Kyriakopoulos and Panagiotis K Artemiadis “Directions, methods and metrics for mapping human to robot motion with functional anthropomorphism: a review”, Technical Report, National Technical University of Athens, pp. 1-10, 2013.

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