George Karras

Research Interests:

My interests extend in the field of unmanned vehicles (underwater, aerial, mobile), system integration, robotics, automation and software engineering. The fields of my expertise include computer vision, visual servo control, sensor fusion, system identification, linear & non-linear control, real time control and embedded systems. I am quite interested in integrating real time control systems in terms of design, modeling and software engineering.

Contact Details:

Email: karrasg@mail.ntua.gr
Phone: 2107721726
Office: Dept. of Mechanical Engineering, Building M, Ground Floor
Website: www.controlsystemslab.gr/main/members/karras?

Publications:

Journals:

    [J.3] Charalampos P. Bechlioulis, George C. Karras, Shahab Heshmati-Alamdari and Kostas J. Kyriakopoulos, “Trajectory Tracking with Prescribed Performance for Underactuated Underwater Vehicles with Model Uncertainties”, IEEE Transactions on Control Systems Technology, May 2016, Issue: 99

    [J.2] Narcis Palomeras, Arnau Carrera, Natalia Hurtos, George C. Karras, Charalampos P. Bechlioulis, Michael Cashmore, Dan Magazzeni, Derek Long, Maria Fox, Kostas J. Kyriakopoulos , Petar Kormushev , Joaquim Salvi , Marc Carreras, “Towards persistent autonomous intervention in a subsea panel”, Autonomous Robots, Oct. 2015

    [J.1] George C. Karras, Savvas G. Loizou and Kostas J. Kyriakopoulos,”Towards Semi-Autonomous Operation of Under-actuated Underwater Vehicles: Sensor Fusion, On-line Identification and Visual Servo Control”, Autonomous Robots (2011) 31:67–86

Conferences (peer reviewed):

    [C. 24] Francesco Maurelli, Marc Carreras, Joaquim Salvi , David Lane, Kostas Kyriakopoulos, George Karras, Maria Fox, Derek Long , Petar Kormushev, Darwin Caldwell,” The PANDORA project: A success story in AUV autonomy”, IEEE OCEANS 2016, Shanghai

    [C.23] Panagiotis Vlantis, Charalampos P. Bechlioulis, George Karras, George Fourlas and Kostas J. Kyriakopoulos, “Fault Tolerant Control for Omni-directional Mobile Platforms with 4 Mecanum Wheels”, IEEE Int. Conf. on Robotics and Automation (ICRA 2016), Stockholm, Sweden

    [C.22] GK Karavas , GC Karras, KJ Kyriakopoulos, “Towards cooperation of underwater vehicles: A Leader-Follower scheme using vision-based implicit communications”, Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ, p. 4852 – 4857

    [C.21] Shahab Heshmati-alamdari, George C Karras, Alina Eqtami, Kostas J Kyriakopoulos, “A robust self triggered Image Based Visual Servoing Model Predictive Control scheme for small autonomous robots”, Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ, p. 5492-5497

    [C.20] A. Tsiamis, J. Tumova, C.P. Bechlioulis, GC Karras, DV Dimarogonas and KJ Kyriakopoulos , “Decentralized leader-follower control under high level goals without explicit communication”, IEEE Int. Conf. on Robotics and Automation ”, Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ

    [C.19] Anastasios Tsiamis, Charalampos Bechlioulis, George Karras, Kostas Kyriakopoulos , “Decentralized Object Transportation by two Nonholonomic Mobile Robots Exploiting only Implicit Communication”, IEEE Int. Conf. on Robotics and Automation (ICRA 2015), Washington State Convention Center Seattle, Washington

    [C.18] Panos Marantos, George Karras, Charalampos Bechlioulis, Kostas Kyriakopoulos, “Autonomous Model-Free Landing Control of Small-Scale Flybarless Helicopters”, IEEE Int. Conf. on Robotics and Automation (ICRA 2015), Washington State Convention Center Seattle, Washington

    [C.17] George K Fourlas, George C Karras, Kostas J Kyriakopoulos, “Sensors fault diagnosis in autonomous mobile robots using observer—Based technique”, International Conference on Control, Automation and Robotics (ICCAR), 2015

    [C.16] George K Fourlas, George C Karras, Kostas J Kyriakopoulos, “Fault Tolerant Control for a 4-Wheel Skid Steering Mobile Robot”, Proceedings of the 26th International Workshop on Principles of Diagnosis, Paris 2015

    [C.15] G.K. Fourlas, S. Karkanis, G.C. Karras, K.J. Kyriakopoulos, “Model Based Actuator Fault Diagnosis for a Mobile Robot”, IEEE International Conference on Industrial Technology (ICIT 2014), Busan, Korea,  February 26 – March 1, 2014

    [C.14] Natalia Hurtos, Narcis Palomeras, Marc Carreras, Arnau Carrera, Charalampos Bechlioulis, George Karras, Shahab Heshmati-alamdari, Kostas J. Kyriakopoulos “Sonar-based Chain Following using an Autonomous Underwater Vehicle”, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept. 14–18, 2014, Chicago, Illinois.

    [C.13] Shahab Heshmati-alamdari,Alina Eqtami, George C. Karras, Dimos V. Dimarogonas, Kostas J.Kyriakopoulos, “A Self-triggered Visual Servoing Model Predictive Control Scheme for Underwater Robotic Vehicles“,IEEE Int. Conf. on Robotics and Automation (ICRA 2014), Hong Kong, China, 2014

    [C.12] George C. Karras, Charalampos P. Bechlioulis, Sharad. Nagappa, Narcis. Palomeras, Kostas J. Kyriakopoulos, Marc. Carreras, “Motion Control for Autonomous Underwater Vehicles: A Robust Model – Free Approach“, IEEE Int. Conf. on Robotics and Automation (ICRA 2014), Hong Kong, China, 2014.

    [C.11] 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 Proceedings of IEEE-MTS Oceans’13, San Diego, USA

    [C.10] C. P. Bechlioulis, G. C. Karras, S. Nagappa, N. Palomeras, K. J. 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, November 3-7, Tokyo, Japan, 2013.

    [C.9] G. C. Karras, C. P. Bechlioulis, H. K. Abdella, T. Larkworthy, K. J. 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, November 3-7, Tokyo, Japan, 2013.

    [C.8] G. C. Karras, C. P. Bechlioulis, M. Leonetti, N. Palomeras, P. Kormushev, K. J. Kyriakopoulos, D. G. Caldwell, “On-line Identification of Autonomous Underwater Vehicles Through Global Derivative-free Optimization”, in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, November 3-7, Tokyo, Japan, 2013.

    [C.7] George C. Karras, Savvas G. Loizou and Kostas J. Kyriakopoulos,” On-line State and Parameter Estimation of an Under-actuated Underwater Vehicle using a Modified Dual Unscented Kalman Filter”, IEEE Intelligent Robots and Systems, 2010, Tapei, Taiwan

    [C.6] George C. Karras, Savvas G. Loizou and Kostas J. Kyriakopoulos,”A Visual-Servoing Scheme for Semi-Autonomous Operation of an Underwater Robotic Vehicle Using an IMU and a Laser Vision System”, IEEE International Conference on Robotics and Automation, 2010, Anchorage, Alaska

    [C.5] George C. Karras, Savvas G. Loizou and Kostas J. Kyriakopoulos, “Semi-Autonomous Teleoperation of a Non-Holonomic Underwater Vehicle Using a Laser Vision System: A Visual – Servoing Switching – Control Approach”, IEEE 17th Mediterranean Conference on Control and Automation, 2009, Thessaloniki, Greece

    [C.4] George C. Karras and Kostas Kyriakopoulos, “Visual Servo Control of an Underwater Vehicle Using a Laser Vision System”, IEEE Intelligent Robots and Systems, Nice, France, September 2008

    [C.3] Dimitra J. Panagou, George C. Karras and Kostas J. Kyriakopoulos, “Towards the stabilization of an underactuated underwater vehicle in the presence of unknown disturbances”, MTS/IEEE OCEANS 2008, Quebec, Canada, September 2008

    [C.2] George C. Karras and Kostas J. Kyriakopoulos, “Localization of an Underwater Vehicle Using an IMU and a Laser-based Vision System”, IEEE 15th Mediterranean Conference on Control and Automation, Athens, Greece, June 2007

    [C.1] George C. Karras, Dimitra J. Panagou and Kostas J. Kyriakopoulos, “Target-referenced Localization of an Underwater Vehicle Using a Laser-based Vision System”, MTS/IEEE OCEANS 2006, Boston, USA, September 2006