The RCDS Laboratory

The RCDS Laboratory is at the heart of the RCDS DIH. It provides the foundation (people, expertise, infrastructure) upon which all the services of the Digital Innovation Hub are built. The laboratory operates out of two facilities (one focusing on marine and maritime robotics and another one dealing with mobile, aerial and underground robotics) at the campus of the Cyprus University of Technology.

Publications
Publications by laboratory personnel

2023
  1. A. Tziola, and S.G. Loizou, ”Autonomous Task Planning for Heterogeneous Multi-Agent Systems”, (accepted) ICRA 2023 (IEEE International Conference on Robotics and Automation).
    arXiv preprint (arXiv: 2209.08611)
2022
  1. S.G. Loizou and E.D. Rimon, ”Mobile Robot Navigation Functions Tuned by Sensor Readings in Partially Known Environments”, IEEE Robotics and Automation Letters, 7 (2), pp. 3803-3810.
2021
  1. N. Constantinou and S.G. Loizou, "Implicit Communication in Multi-Robot Systems with Limited Sensing Capabilities ", IEEE Conference on Decision and Control, 2021.
  2. A. Coppola, G. N. Bifulco, A. Petrillo, S. Santini, S.G. Loizou, "Combined Energy-oriented Path Following and Collision Avoidance approach for Autonomous Electric Vehicles via Nonlinear Model Predictive Control.", IEEE International Conference on Environment and Electrical Engineering, EEEIC, Bari 2021.
  3. S.G. Loizou and E.D. Rimon, "Correct-by-Construction Navigation Functions with Application to Sensor Based Robot Navigation".
    arXiv preprint (arXiv: 2103.04445)
  4. S. Loizou, D. G. Lui, A. Petrillo and S. Santini, "Connectivity Preserving Formation Stabilization in an obstacle-cluttered environment in the presence of time-varying communication delays," in IEEE Transactions on Automatic Control. DOI: 10.1109/TAC.2021.3119003
2020 
  1. S.G. Loizou, D.G. Lui, A. Petrillo, and S. Santini, "Connectivity Preserving Formation Stabilization in an obstacle-cluttered environment in the presence of time-varying communication delays", IEEE Transactions on Automatic Control, (under review).
  2. N. Constantinou, S.G. Loizou, "Robot navigation on star worlds using a single-step Navigation Transformation", (to appear) IEEE Conference on Decision and Control, 2020.
2019
  1. G. Georgiades, X. Papageorgiou, S.G. Loizou, “Integrated Forest Monitoring System for Early Fire Detection and Assessment”, 6th International Contference on Control, Decision and Information Technologies (CoDIT), Paris, FRANCE, April 23-26, 2019.
2018
  1. C.C. Constantinou and S.G. Loizou, “Automatic Controller Synthesis of Motion-Tasks with Reat-Time Objectives”, 57th IEEE Conference on Decision and Control (CDC), Fontainebleau, Miani Beach, FL, USA, December 17-19, 2018.
  2. S.G. Loizou, “Avoiding Sets of Measure-Zero in Navigation Transformation based Controllers”, Proceedings of the 27th International Conference of Robotics in Alpe Adria Danube Region (RAAD), Advances in Service and Industrial Robotics (Springer), pp. 512-520, Patras, GREECE, June 6-8, 2018.
2017
  1. S.G. Loizou, "The Navigation Transformation," IEEE Transactions on Robotics, vol. 33, no. 6, pp. 1516-1523, Dec. 2017.
​​2016
  1. S. G. Loizou, C. C. Constantinou, "Multi-Robot Coverage on Dendritic Topologies under Communication Constraints", IEEE Conference on Decision and Control, Las Vegas, NV, USA,December 12-14, 2016. 
  2. C. C. Constantinou, S. G. Loizou and G.P. Georgiades, “A Laser Vision System for Relative 3-D Posture Estimation of an Underwater Vehicle to Mesh-like Targets”, IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, October 9-14, 2016.
  3. S. Potyagaylo, C.C. Constantinou, and S.G. Loizou, ``Visual-Inertial Autonomous Navigation of an Underwater Vehicle for Aquaculture Inspection Operation'', (single page abstract), The 5th Israeli Conference on Robotics (ICR 2016), Airforce Center, Herzliya, ISRAEL, April 13-14, 2016. 
2015
  1. S. Potyagaylo and S.G. Loizou, “Online Aquaculture Flow Field Estimator for Control of Local Underwater Robotic Operations”, Persistent Autonomy for Aquatic Robotics: The Role of Control and Learning in Single and Multi-Robot Systems (PAAR) Workshop, International Conference on Robotics and Automaton (ICRA), Seattle, USA, May 2015.
  2. S. Potyagaylo and S.G. Loizou, “Towards Visual-Inertial Navigation of an Underwater Vehicle for Aquaculture Inspection Operation”, Women in Robotics II Workshop, Robotics: Science and Systems Conference 2015 (RSS), Rome, Italy, July 2015.
  3. S. Potyagaylo, C.C. Constantinou, G. Georgiades and S.G. Loizou, “Asynchronous UKF-based Localization of an Underwater Robotic Vehicle for Aquaculture Inspection Operations”, MTS/IEEE OCEANS 2015 Conference, Washington DC, USA, October 2015.
2014
  1. S. Potyagaylo and S.G. Loizou, “Online Adaptive Geometry Predictor of Aquaculture Fish-Nets”, 22nd Mediterranean Conference on Control & Automation (MED), Palermo, Italy, June 16-19, 2014.
  2. S.G. Loizou, “The Multi-Agent Navigation Transformation: Tuning-Free Multi-Robot Navigation”, 2014 Robotics: Science and Systems Conference (RSS), University of California, Berkeley, USA, July 12-16, 2014.
  3. C. Constantinou, S.G. Loizou, G. Georgiades, S. Potyagaylo and D. Skarlatos, “Adaptive calibration of an underwater robot vision system based on hemispherical optics”, Autonomous Underwater Vehicles 2014, Oceanic Engineering Society – IEEE AUV 2014, Oxford, USA, October 6-9, 2014.
2012
  1. S.G, Loizou, "Navigation functions in topologically complex 3-D workspaces", American Control Conference (ACC), 2012, 4861-4866.
2011
  1. S.G. Loizou, "Closed form navigation functions based on harmonic potentials", IEEE Conference on Decision and Control and European Control Conference, 2011.
  2. S.G. Loizou, "The navigation transformation: Point worlds, time abstractions and towards tuning-free navigation", Control & Automation (MED), 2011 19th Mediterranean Conference on, 303-308.
  3. X Papageorgiou, HG Tanner, SG Loizou, KJ Kyriakopoulos, "Switching manipulator control for motion on constrained surfaces",  Journal of Intelligent & Robotic Systems 62 (2), 217-239, 2011.
  4. G.C. Karras, S.G. Loizou, K.J. Kyriakopoulos, "Towards semi-autonomous operation of under-actuated underwater vehicles: sensor fusion, on-line identification and visual servo control", Autonomous Robots 31 (1), 67-86, 2011.

Prior to 2011
  1. G. Karras, S.G. Loizou and K.J. Kyriakopoulos, "On-line State and Parameter Estimation of an Under-actuated Underwater Vehicle using a Modified Dual Unscented Kalman Filter", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010 (.pdf)
  2. Oikonomopoulos, S.G. Loizou and K.J. Kyriakopoulos, "Modeling and Control of Heterogeneous Non-Holonomic Input-Constrained Multiagent Systems", 49th IEEE Conference on Decision and Control, 2010. (.pdf)
  3. G. Karras, S.G. Loizou and K.J. Kyriakopoulos, "A Visual-Servoing Scheme for Semi-Autonomous Operation of an Underwater Robotic Vehicle Using an IMU and a Laser Vision System," 2010 IEEE International Conference on Robotics and Automation (.pdf)
  4. A. Oikonomopoulos, S.G. Loizou and K.J. Kyriakopoulos, "Coordination of Multiple Non-Holonomic Agents with Input Constraints", 2009 IEEE International Conference on Robotics and Automation (.pdf)
  5. G. Karras, S.G. Loizou and K.J. Kyriakopoulos, ‘Semi–Autonomous Teleoperation of a Non-Holonomic Underwater Vehicle Using a Laser Vision System: A Visual–Servoing Switching Control Approach", 17th Mediterranean Conference on Control & Automation, 2009 (.pdf)
  6. S.G. Loizou and A. Jadbabaie "Density Functions for Navigation Function Based Systems", IEEE Transactions on Automatic Control, vol. 53 (2), pp. 612-617, March 2008 (.pdf)
  7. S.G. Loizou and K.J. Kyriakopoulos "Navigation of Multiple Kinematically Constrained Robots", IEEE Transactions on Robotics, vol. 24 (1), pp. 221-231, Feb. 2008 (.pdf)
  8. A. Oikonomopoulos, S.G. Loizou and K.J. Kyriakopoulos, "Hybrid Control of a Constrained Velocity Unicycle with Local Sensing" , 47th IEEE International Conference on Decision and Control, 2008 (.pdf)
  9. D. Chatzigeorgiou, S.G. Loizou and K.J. Kyriakopoulos, "R-Cell: A Module for a Self-Reconfigurable Robotic System", IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems (.pdf)
  10. N. Michael, J. Fink, S.G. Loizou, V. Kumar, "Architecture, Abstractions, and Algorithms for Controlling Large Teams of Robots: Experimental Testbed and Results", 13th International Symposium of Robotics Research (ISRR2007) (DOI).
  11. S.G. Loizou, V. Kumar, "Biologically Inspired Bearing-Only Navigation and Tracking", 46th IEEE Conference on Decision and Control, New Orleans, 2007 (.pdf)
  12. S.G. Loizou, V. Kumar, "Mixed Initiative Control of Autonomous Vehicles", 2007 IEEE International Conference on Robotics and Automation (.pdf)
  13. M.A. Hsieh, S.G. Loizou, V. Kumar, "Stabilization of Multiple Robots on Stable Orbits via Local Sensing", 2007 IEEE International Conference on Robotics and Automation (.pdf)
  14. X. Papageorgiou, S.G. Loizou, K.J. Kyriakopoulos, "Motion Tasks and Force Control for Robot Manipulators on Embedded 2D Manifolds", 2007 IEEE International Conference on Robotics and Automation (.pdf)
  15. S.G. Loizou and K.J. Kyriakopoulos "A feedback Based Multiagent Navigation Framework", International Journal of Systems Science, , vol. 37 (6), pp. 377-384, May 2006.
  16. D.V. Dimarogonas, S.G. Loizou, K.J. Kyriakopoulos and M.M. Zavlanos "A Feedback Stabilization and Collision Avoidance Scheme for Multiple Independent Non-point Agents", Automatica, , vo. 42(2), pp. 229-243, Feb. 2006, (.pdf)
  17. S.G. Loizou, A. Jadbabaie, "Density Functions for Navigation Function Based Systems," 45th IEEE Conference on Decision and Control, San Diego, California, USA, December 2006 (.pdf)
  18. S.G. Loizou, V. Kumar, "Weak Input-to-State Stability Properties for Navigation Function Based Controllers, " 45th IEEE Conference on Decision and Control, San Diego, California, USA, December 2006 (.pdf)
  19. G. E. Fainekos, S.G. Loizou, G.J. Pappas, "Translating temporal logic to controller specifications," 45th IEEE Conference on Decision and Control, San Diego, California, USA, December 2006 (.pdf)
  20. P. Vartholomeos, S.G. Loizou, M. Thiel, K. J. Kyriakopoulos, E. Papadopoulos "Control of the Multi Agent Micro-Robotic Platform MiCRoN, " IEEE 2006 International Conference on Control Applications, Munich, Germany, October 2006 (.pdf)
  21. X. Papageorgiou, S.G. Loizou, K.J. Kyriakopoulos, "Motion Tasks for Robot Manipulators on Embedded 2-D Manifolds", IEEE 2006 International Symposium on Intelligent Control, Munich, Germany, October 2006 (.pdf)
  22. S.G. Loizou and K.J. Kyriakopoulos "Multirobot Navigation Functions I",Β in H.A.P Blom and J. Lygeros (eds.)Β Stochastic Hybrid Systems: Theory and Safety Critical Applications, Chapter 10, Springer, 2006
  23. D.V. Dimarogonas, S.G. Loizou and K.J. Kyriakopoulos "Multirobot Navigation Functions II: Towards Decentralization", in H.A.P Blom and J. Lygeros (eds.)Β Stochastic Hybrid Systems: Theory and Safety Critical Applications, Chapter 11, Springer, 2006
  24. K.J. Kyriakopoulos and S.G. Loizou "Robotics: Fundamentals and Prospects" in Axel Munack (ed), CIGR Handbook of Agricultural Engineering Volume 6: Information Technology, Part I, Chap. 2.4, 2006
  25. S.G. Loizou and K.J. Kyriakopoulos "Automated Planning of Motion Tasks for Multi-Robot Systems,", 44th IEEE Conference on Decision and Control 2005 (.pdf)
  26. S.G. Loizou and K.J. Kyriakopoulos "Navigation of multiple input constraint micro-robotic agents", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005 (.pdf)
  27. S.G. Loizou and K.J. Kyriakopoulos "Motion Planning of Piezoelectrically Driven Micro-Robots via Navigation Functions", 13th IEEE Mediterranean Conference on Control and Automation 2005 (.pdf)
  28. X. Papageorgiou and S.G. Loizou and K.J. Kyriakopoulos "Motion Planning and Trajectory Tracking on 2-D Manifolds embedded in 3-D Workspaces", IEEE 2005 Int. Conference on Robotics and Automation (.pdf)
  29. S.G. Loizou and K.J. Kyriakopoulos "Automatic Synthesis of Multi-Agent Motion Tasks Based on LTL Specifications," to, 43nd IEEE Conference on Decision and Control 2004 (.pdf)
  30. S.G. Loizou, K.J. Kyriakopoulos, "Centralized Feedback Stabilization of Multiple Nonholonomic Agents under Input Constraints," 5th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2004 (.pdf)
  31. S.G. Loizou, D.V. Dimarogonas, K.J. Kyriakopoulos, "Decentralized Feedback Stabilization of Multiple Nonholonomic Agents," Int. Conf. On Robotics and Automation 2004 (.pdf)
  32. H. Tanner, S.G. Loizou and K.J. Kyriakopoulos "Nonholonomic Navigation and Control of Cooperating Mobile Manipulators", IEEE Transactions on Robotics and Automation, vol. 19(1), pp. 53-64, Feb. 2003 (.pdf)
  33. S.G. Loizou H.G. Tanner, V. Kumar, K.J. Kyriakopoulos "Closed loop navigation for mobile agents in dynamic environments", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003 (.pdf)
  34. S.G. Loizou H.G. Tanner, V. Kumar, K.J. Kyriakopoulos "Closed Loop Motion Planning and Control for Mobile Robots in Uncertain Environments", 42nd IEEE Conference on Decision and Control, 2003 (.pdf)
  35. D. V. Dimarogonas, M.M. Zavlanos, S. G. Loizou and K. J. Kyriakopoulos "Decentralized Motion Control of Multiple Holonomic Agents under Input Constraints", 42nd IEEE Conference on Decision and Control, 2003 (.pdf)
  36. S.G. Loizou and K.J. Kyriakopoulos "Closed Loop Navigation for Multiple Non-Holonomic Vehicles", Proceedings of the 2003 Int. Conf. On Robotics and Automation (.pdf)
  37. S.G. Loizou and K.J. Kyriakopoulos "Closed Loop Navigation for Multiple Holonomic Vehicles", Proceedings of the 2002 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. (.pdf)
  38. H. Tanner, S.G. Loizou and K.J. Kyriakopoulos "Non-Holonomic Stabilization with Collision Avoidance for Mobile Robots", Proceedings of the 2001 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. (.pdf)
  39. H. G. Tanner, S. G. Loizou, K. J. Kyriakopoulos and N. Sigrimis, "Coordinating the Motion of a Manipulator and a Mobile Base in Tree Environments," in Proceedings of the 2nd IFAC/CIGR International Workshop on Bio-Robotics, Information Technology and Intelligent Control for Bioproduction Systems, November 2000, Osaka, Japan (.pdf)
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