Charalampos (Babis) Bechlioulis

Research Interests:

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.

Contact Details:

Email: chmpechl AT mail.ntua.gr | chmpechl AT gmail.com
Phone: +302107724012
Office: Dept. of Mechanical Engineering, Building M, Ground Floor
Website: www.controlsystemslab.gr/main/members/bechlioulis?

Work Experience: 

02/2012-present

National Technical University of Athens                                        

Research Associate

01/2017-present     

Co4Robots: Achieving Complex Collaborative Missions via Decentralized Control and Coordination of Interacting Robots (EU H2020-731869).

10/2016present     

ERMIS: Distributed Adaptive Control of Traffic Congestion (Onassis Foundation).

03/201305/2016     

RECONFIG: Cognitive, Decentralized Coordination of Heterogeneous Multi-Robot Systems via Reconfigurable Task Planning (EU FP7-600825 ICT STREP).

07/2013-10/2015

HCUAV: Hellenic Civil Unmanned Air Vehicle (SYNERGASIA GSRT).

02/2012-06/2015

PANDORA: Persistent Autonomy through learNing, aDaptation, Observation and ReplAnning (EU FP7-288273 ICT STREP).

02/2012-04/2014     

THE: The Hand Embodied (EU FP7-248587 ICT IP).

2013-2016

National Technical University of Athens, School of Mechanical Engineering

Lecturer in Postgraduate Course on “Intelligent Control and Robotic Systems”.

2014-2016

National Technical University of Athens, School of Mechanical Engineering

Teaching Assistant in Undergraduate Courses.

01/2012-12/2012

Aristotle University of Thessaloniki, Post-Doctoral Scholarship

Dynamic learning of unknown nonlinear systems via neuro-adaptive control

05/2011-02/2012

Research & Information Directorate – Hellenic Army 

Software Engineer.

2007-2011

Aristotle University of Thessaloniki, Department of Electrical & Computer Engineering

Teaching Assistant in Undergraduate Courses.

 Education:

10/2006-2/2011

Aristotle University of Thessaloniki, Faculty of Engineering, Department of Electrical & Computer Engineering

Doctor of Philosophy (PhD) in Electrical Engineering (“Excellent”)
Thesis: Robust Control with Prescribed Performance for Input-affine Dynamical Systems.

Supervisor: prof. George A. Rovithakis

Specialization: Automatic Control

10/2006-03/2011

Aristotle University of Thessaloniki, Faculty of Sciences, Department of Mathematics

Bachelor (BSc) in Mathematics

Graduated 2nd out of a class of 160 students (GPA: 8.94/10)

Specialization: Computer Science and Numerical Analysis

10/2001-07/2006

Aristotle University of Thessaloniki, Department of Electrical & Computer Engineering

Diploma and Master of Science (5 years Dpl & MSc) in Electrical & Computer Engineering                                                           

Graduated 1st out of a class of 200 students (GPA: 9.51/10)

Thesis: A Simulation Environment and Control Techniques for Dynamical Systems

Supervisor: prof. George A. Rovithakis

Specialization: Automatic Control

Publications:

PEER-REVIEWED JOURNAL PAPERS:

[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, Accepted with Minor Revision, Dec 2016.

[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, DOI: 10.1115/1.4035505, Dec 2016.

[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, DOI: 10.1109/TCST.2016.2642160, Dec 2016.

[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, DOI: 10.1109/TCNS.2016.2555581, Mar 2016.

[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, DOI: 10.1109/TAC.2016.2535102, Feb 2016.

[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, DOI: 10.1109/TCST.2016.2555247, Feb 2016.

[J11] N. Palomeras, C. P. Bechlioulis, (13 co-authors), “Toward persistent autonomous intervention in a subsea panel,” Autonomous Robots, DOI 10.1007/s10514-015-9511-7, Oct 2015.

[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.

PEER-REVIEWED CONFERENCE PAPERS:

[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, 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, May 16-21, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 2014.

[C24] N. Hurtos, N. Palomeras, M. Carreras, A. Carrera, C. P. Bechlioulis, G. Karras, S. Heshmati-alamdari, K. J. Kyriakopoulos “Sonar-based Chain Fol-lowing using an Autonomous Underwater Vehicle”, in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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 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, 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, 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, 2013.

[C7] C. P. Bechlioulis and G. A. Rovithakis, “Approximation Free Prescribed Performance Control,” in 18th World Congress of the International Federation of Automatic Control, Milano, Italy, 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, 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.

BOOK CHAPTERS:

[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, 2015.

TECHNICAL REPORT:

[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, 2013.