Publications
Refereed Journal Publications
A. Dechemi,* D. Chatziparaschis,* J. Chen,* M. Campbell,* A. Shamshirgaran, C. Mucchiani,* A. Roy-Chowdhury, S. Carpin, and K. Karydis, Robotic Assessment of a Crop's Need for Watering. IEEE Robotics and Automation Magazine, 2023. In Press.
Z. Liu,* Z. Lu,* A. Agha-mohammadi, and K. Karydis, Contact-Prioritized Planning of Impact-Resilient Aerial Robots with an Integrated Compliant Arm. IEEE/ASME Transactions on Mechatronics (TMECH), 2023, vol. 28 (4), pp. 2064-2072. (preprint)
L. Shi,* Z. Liu,* and K. Karydis, Koopman Operators for Modeling and Control of Soft Robotics. Springer Nature Current Robotics Reports, 2023 (4), pp. 23-31. (preprint)
Z. Liu,* C. Mucchiani,* K. Ye,* and K. Karydis, Safely catching aerial micro-robots in mid-air using an open-source aerial robot with soft gripper. Frontiers in Robotics and AI, Section Bio-Inspired Robotics, 2022. Available online at https://doi.org/10.3389/frobt.2022.1030515.
Z. Lu,* Z. Liu,* M. Campbell,* and K. Karydis, Online Search-based Collision-inclusive Motion Planning and Control for Impact-resilient Mobile Robots. IEEE Transactions on Robotics (TRO), 2022. Appeared Online. (preprint)
L. Shi* and K. Karydis, ACD-EDMD: Analytical Construction for Dictionaries of Lifting Functions in Koopman Operator-based Nonlinear Robotic Systems. IEEE Robotics and Automation Letters, 2021, vol. 7 (2), pp. 906-913. (preprint)
S. Hoang, K. Karydis, P. Brisk, and W. H. Grover, A Pneumatic Random-access Memory for Controlling Soft Robots. PloS one, 2021, 16 (7), e0254524. https://journals.plos.org/plosone/article?id=10.1371/journal.pone.0254524.
X. Kan,* T. C. Thayer, S. Carpin, and K. Karydis, Task Planning on Stochastic Aisle Graphs for Precision Agriculture. IEEE Robotics and Automation Letters, 2021, vol. 6(2), pp. 3287-3294. (preprint)
X. Kan,* H. Teng,* and K. Karydis, Online Exploration and Coverage Planning in Unknown Obstacle-Cluttered Environments. IEEE Robotics and Automation Letters, 2020, vol. 5(4), pp. 5969-5976. (preprint)
E. Kokkoni, Z. Liu,* and K. Karydis, Development of a Soft Robotic Wearable Device to Assist Infant Reaching. Transaction of the ASME Journal of Engineering and Science in Medical Diagnostics and Therapy, 2020, vol. 3, pp. 021109-1--9.
X. Kan,* J. Thomas, H. Teng,* H. G. Tanner, V. Kumar, and K. Karydis, Analysis of Ground Effect for Small-scale UAVs in Forward Flight. IEEE Robotics and Automation Letters, 2019, vol. 4 (4), pp. 3860-3867.
K. Mohta, M. Watterson, Y. Mulgaonkar, S. Liu, C. Qu, A. Makineni, K. Saulnier, K. Sun, A. Zhu, J. Delmerico, K. Karydis, N. Atanasov, G. Loianno, D. Scaramuzza, K. Daniilidis, C. J. Taylor, and V. Kumar, Fast, Autonomous Flight in GPS-Denied and Cluttered Environments. Journal of Field Robotics, 2018, vol. 35 (1), pp. 101-120.
K. Karydis and V. Kumar, Energetics in Robotic Flight at Small Scales. Interface Focus, Royal Society, 2017, 7:20160088. http://dx.doi.org/10.1098/rsfs.2016.0088.
K. Karydis, I. Poulakakis, and H. G. Tanner, A Navigation and Control Strategy for Miniature Legged Robots. IEEE Transactions on Robotics (TRO), Feb. 2017, vol. 33 (1), pp. 214-219.
K. Karydis, P. Kannappan, H. G. Tanner, A. Jardine, and J. Heinz, Resilience through Learning in Multi-Agent Cyber-Physical Systems. Frontiers in Robotics and AI, Section Multi-Robot Systems, 2016. Available online at http://dx.doi.org/10.3389/frobt.2016.00036.
K. Karydis, I. Poulakakis, J. Sun, and H. G. Tanner, Probabilistically Valid Stochastic Extensions of Deterministic Models for Systems with Uncertainty. The International Journal of Robotics Research (IJRR), May 2015, vol. 34 (10), pp. 1278-1295.
J. Fu, H.G. Tanner, J. Heinz, K. Karydis, J. Chandlee, and C. Koirala, Symbolic Planning and Control Using Game Theory and Grammatical Inference. Engineering Applications of Artificial Intelligence (EAAI), Jan. 2015, vol. 37, pp. 378-391.
K. Karydis, Y. Liu, I. Poulakakis, and H.G. Tanner, A Template Candidate for Miniature Legged Robots in Quasi-Static Motion. Autonomous Robots, Feb. 2015, vol. 38 (2), pp. 193-209.
Peer-reviewed Book Chapters
D. Chatziparaschis,* E. Scudiero, and K. Karydis, Robot-assisted Soil Apparent Electrical Conductivity Measurements in Orchards. In CRC Press: Mobile Robots for Digital Farming. In Press.
K. Karydis and M. Ani Hsieh, Uncertainty Quantification for Small Robots Using Principal Orthogonal Decomposition. International Symposium on Experimental Robotics (ISER), Springer International Publishing, Springer Proceedings in Advanced Robotics, 2017, pp. 33-42.
K. Karydis, A. Stager, H. G. Tanner, and I. Poulakakis, Experimental Validation of a Template for Navigation of Miniature Legged Robots. International Symposium on Experimental Robotics (ISER), Springer International Publishing, Springer Proceedings in Advanced Robotics, 2017, pp. 420-430.
Peer-reviewed Conference Proceedings
I. Sahin, M. Ayazi,* C. Mucchiani,* J. Dube, K. Karydis, and E. Kokkoni, A Fabric-based Pneumatic Actuator for the Infant Elbow: Design and Comparative Kinematic Analysis. In IEEE Int. Conf. on Robotics and Biomimetics (ROBIO), 2023. In Press. (Acceptance rate N/A)
H. Teng,* Y. Wang,* X. Song,* and K. Karydis, Multimodal Dataset for Localization, Mapping and Crop Monitoring in Citrus Tree Farms. In 18th Int. Symposium on Visual Computing (ISVC), 2023. In Press. (Acceptance rate N/A)
Z. Liu* and K. Karydis, Dynamic Modeling and Analysis of Impact-resilient MAVs Undergoing High-speed and Large-angle Collisions with the Environment. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2023. In Press. (Acceptance rate 43%)
K. Ye,* K. Chung,* and K. Karydis, A Novel Lockable Spring-loaded Prismatic Spine to Support Agile Quadrupedal Locomotion. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2023. In Press. (Acceptance rate 43%)
C. Mucchiani,* Z. Liu,* I. Sahin, E. Kokkoni, and K. Karydis, Robust Generalized Proportional Integral Control for Trajectory Tracking of Soft Actuators in a Pediatric Wearable Assistive Device. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2023. In Press. (Acceptance rate 43%)
C. Simons,* D. S. Raychaudhuri, Sk M. Ahmed, S. You, K. Karydis, and Amit Roy-Chowdhury, SUMMIT: Source-Free Adaptation of Uni-Modal Models to Multi-Modal Targets. In IEEE/CVF International Conference on Computer Vision (ICCV), 2023, pp 1239-1249. (Acceptance rate 26.8%)
K. Ye* and K. Karydis, Evaluation of Legged Robot Landing Capability Under Aggressive Linear and Angular Velocities. In IEEE Int. Conf. on Robotics and Automation (ICRA), 2023, pp. 12184-12190. (Acceptance rate 43%)
H. Teng,* D. Chatziparaschis,* X. Kan,* A. K. Roy-Chowdhury, and K. Karydis, Centroid Distance Keypoint Detector for Colored Point Clouds. In IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2023, pp. 1196-1205. (Acceptance rate in Round #1 this paper was accepted at 22.2%)
M. Campbell,* A. Dechemi,* and K. Karydis, An Integrated Actuation-Perception Framework for Robotic Leaf Retrieval: Detection, Localization, and Cutting. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2022. In print. (Acceptance rate 47.9%)
L. Shi,* C. Mucchiani,* and K. Karydis, Online Modeling and Control of Soft Multi-fingered Grippers via Koopman Operator Theory. In IEEE Int. Conf. on Automation Science and Engineering (CASE), 2022, pp. 1946-1952. (Acceptance rate N/A)
K. Urrutia Avila,* M. Campbell,* K. Mauck, M. Gebiola, and K. Karydis, Development and Testing of a Smart Bin toward Automated Rearing of Black Soldier Fly Larvae. In IEEE Int. Conf. on Automation Science and Engineering (CASE), 2022, pp. 1238-1243. Acceptance rate N/A)
C. Mucchiani,* Z. Liu,* I. Sahin, J. Dube, L. Vu, E. Kokkoni, and K. Karydis, Closed-loop Position Control of a Pediatric Soft Robotic Wearable Device for Upper Extremity Assistance. In IEEE Int. Conf. on Robot and Human Interactive Communication (RO-MAN), 2022, pp. 1514-1519. (Acceptance rate N/A)
I. Sahin, J. Dube, C. Mucchiani,* K. Karydis, and E. Kokkoni, A Bidirectional Fabric-based Pneumatic Actuator for the Infant Shoulder: Design and Comparative Kinematic Analysis. In IEEE Int. Conf. on Robot and Human Interactive Communication (RO-MAN), 2022, pp. 371-376. (Acceptance rate N/A)
G. Kouvoutsakis,* E. Kokkoni, and K. Karydis, Using Infant Limb Movement Data to Control Small Aerial Robots. In IEEE Int. Conf. on Development and Learning (ICDL), 2022, pp. 287-292. (Acceptance rate N/A)
L. Shi* and K. Karydis, ACD-EDMD: Analytical Construction for Dictionaries of Lifting Functions in Koopman Operator-based Nonlinear Robotic Systems. Jointly accepted for presentation in 2022 IEEE Int. Conf. on Robotics and Automation (ICRA). (Acceptance rate 43%)
K. Ye* and K. Karydis, Modeling and Trajectory Optimization for Standing Long Jumping of a Quadruped with A Preloaded Elastic Prismatic Spine. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2021, pp. 902-908. (Acceptance rate 45%)
Z. Liu* and K. Karydis, Position Control and Variable-Height Trajectory Tracking of a Soft Pneumatic Legged Robot. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2021, pp. 1708-1715. (Acceptance rate 45%)
Z. Lu,* Z. Liu,* and K. Karydis, Deformation Recovery Control and Post-Impact Trajectory Replanning for Collision-Resilient Mobile Robots. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2021, pp. 2030-2037. (Acceptance rate 45%)
A. Dechemi,* V. Bhakri,* I. Sahin, A. Modi, J. Mestas, P. Peiris,* D. Barrundia, E. Kokkoni and K. Karydis, BabyNet: A Lightweight Network for Infant Reaching Action Recognition in Unconstrained Environments to Support Pediatric Rehabilitation Applications. In IEEE Int. Conf. on Robot and Human Interactive Communication (RO-MAN), 2021, pp. 461-467. (Acceptance rate N/A)
M. Campbell,* K. Ye,* E. Scudiero and K. Karydis, A Portable Agricultural Robot for Continuous Apparent Soil Electrical Conductivity Measurements to Improve Irrigation Practices. In IEEE Int. Conf. on Automation Science and Engineering (CASE), 2021, pp. 2228-2234. (Acceptance rate N/A)
L. Shi* and K. Karydis, Enhancement for Robustness of Koopman Operator-based Data-driven Mobile Robotic Systems. In IEEE Int. Conf. on Robotics and Automation (ICRA), 2021, pp. 2503-2510. (Acceptance rate 48%)
Z. Liu* and K. Karydis, Toward Impact-resilient Quadrotor Design, Collision Characterization and Recovery Control to Sustain Flight after Collisions. In IEEE Int. Conf. on Robotics and Automation (ICRA), 2021, pp. 183-189. (Acceptance rate 48%)
X. Kan,* T. C. Thayer, S. Carpin, and K. Karydis, Task Planning on Stochastic Aisle Graphs for Precision Agriculture. Jointly accepted for presentation in IEEE Int. Conf. on Robotics and Automation (ICRA), 2021. (Acceptance rate 48%)
Z. Lu,* Z. Liu,* G. Correa,* and K. Karydis, Motion Planning for Collision-resilient Mobile Robots in Obstacle cluttered Unknown Environments with Risk Reward trade-offs. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2020, pp. 7064-7070. (Acceptance rate 47%)
X. Kan,* H. Teng,* and K. Karydis, Online Exploration and Coverage Planning in Unknown Obstacle-Cluttered Environments. Jointly accepted for presentation in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2020. (Acceptance rate 47%)
K. Ye,* G. Correa,* T. Guda, H. Teng,* A. Ray, and K. Karydis, Development and Testing of a Novel Automated Insect Capture Module for Sample Collection and Transfer. In IEEE Int. Conf. on Automation Science and Engineering (CASE), 2020, pp. 1063-1069. (Acceptance rate N/A)
L. Shi,* H. Teng,* X. Kan,* and K. Karydis, A Data-driven Hierarchical Control Structure for Systems with Uncertainty. In IEEE Conf. on Control Technology and Applications (CCTA), 2020, pp. 57-63. (Acceptance rate N/A)
Z. Liu,* Z. Lu,* and K. Karydis, SoRX: A Soft Pneumatic Hexapod Robot on Rough, Steep and Unstable Terrain. In IEEE Int. Conf. on Robotics and Automation (ICRA), 2020, pp. 420-426. (Acceptance rate 42%)
X. Kan,* H. Teng,* and K. Karydis, Multi-robot Field Exploration in Hex-Decomposed Environments for Dubins Vehicles. In IEEE Int. Conf. on Robotics and Biomimetics (ROBIO), 2019, pp. 449-455. (Acceptance rate 54%)
Z. Lu* and K. Karydis, Optimal Steering of Stochastic Mobile Robots that Undergo Collisions with their Environment. In IEEE Int. Conf. on Robotics and Biomimetics (ROBIO), 2019, pp. 668-675. (Acceptance rate 54%)
X. Kan,* A. Ganlath, S. Ucar, K. Han, P, Tiwari, and K. Karydis, Edge Assisted Misbehavior Detection for Platoons. In IEEE Vehicular Networking Conf. (VNC), 2019, pp. 1-4. (Acceptance rate: N/A)
X. Kan,* J. Thomas, H. Teng,* H. G. Tanner, V. Kumar, and K. Karydis, Analysis of Ground Effect for Small-scale UAVs in Forward Flight. Jointly accepted for presentation in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2019. (Acceptance rate 45%)
L. Wang, Y. Yang, G.Correa,* K. Karydis, and R. S. Fearing, OpenRoACH: A Durable Open-Source Hexapedal Platform with Onboard Robot Operating System (ROS). In IEEE Int. Conf. on Robotics and Automation (ICRA), 2019, pp. 9466-9472. (Acceptance rate: 44%)
X. Kan* and K. Karydis, Minimalistic Neural Network Architectures for Safe Navigation of Small Mobile Robots. In IEEE Int. Symp. on Safety, Security, and Rescue Robotics (SSRR), 2018. (Acceptance rate: N/A)
A. Khan, C. Zhang, N. Atanasov, K. Karydis, D. D. Lee, and V. Kumar, Memory Augmented Control Networks. In Int. Conf. on Learning Representations (ICLR), 2017.
N. Kreciglowa, K. Karydis, and V. Kumar, Energy Efficiency of Trajectory Generation Methods for Stop-and-Go Aerial Robot Navigation. In Int. Conf. on Unmanned Aircraft Systems (ICUAS), 2017, pp. 656-662.
P. Kannappan, K. Karydis, H. G. Tanner, A. Jardine, and J. Heinz, Incorporating Learning Modules to Improve the Resilient Design of Supervisory Cyber-Physical Systems. In Mediterranean Conf. on Control and Automation (MED), 2016, pp. 996-1001.
K. Karydis, Y. Liu, I. Poulakakis, and H. G. Tanner, Navigation of Miniature Legged Robots Using a New Template. In Mediterranean Conf. on Control and Automation (MED), 2015, pp. 1112-1117.
A. Stager, K. Karydis, and H. G. Tanner, A Passively Sprawling Miniature Legged Robot. In IEEE Int. Conf. on Robotics and Automation (ICRA), 2015, pp. 3134-3139.
K. Karydis, D. Zarrouk, I. Poulakakis, R. S. Fearing, and H. G. Tanner, Planning with the STAR(s). In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2014, pp. 3033-3038.
K. Karydis, I. Poulakakis, and H. G. Tanner, Probabilistic validation of a stochastic kinematic model for an eight-legged robot. In IEEE Int. Conf. on Robotics and Automation (ICRA), 2013, pp. 2562-2567.
K. Karydis, I. Poulakakis, and H. G. Tanner, A switching kinematic model for an octapedal robot. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2012, pp. 507-512.
J. Chandlee, J. Fu, K. Karydis, C. Koirala, J. Heinz and H. G. Tanner, Integrating Grammatical Inference into Robotic Planning. In Journal of Machine Learning Research (JMLR) – Proceedings Track, 2012, 21, 69-83.
K. Karydis, L. Valbuena and H. G. Tanner, Model Predictive Navigation for Position and Orientation Control of Nonholonomic Vehicles. In IEEE Int. Conf. on Robotics and Automation (ICRA), 2012, pp. 3206-3211.
Peer-reviewed Abstracts
N. Godinez, S. Lopez, A. Mulji, A. Pickle, P. R. Jayaseelan, K. Karydis, and Elena Kokkoni, Development and Preliminary Evaluation of a Pneumatic Sitting Postural Device for Infants. In Archives of Physical Medicine and Rehabilitation, Dec. 2020, vol. 101 (12), pp. e136-e137. (Acceptance rate N/A)
Z. Lu* and K. Karydis, Optimal Steering of Stochastic Mobile Agents that Undergo Collisions with their Environment. In Southwest Robotics Symposium, 2019. (Acceptance rate: 61%)
X. Kan* and K. Karydis, Multi-agent Field Covering and Path Planning in Partially-Known Hex-Decomposed Environments. In Southwest Robotics Symposium, 2019. (Acceptance rate: 61%; invited for oral presentation)
A. Khan, C. Zhang, N. Atanasov, K. Karydis, D. D. Lee, and V. Kumar, Neural Network Policies for Planning. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) – Abstracts Track, 2017.
A. Khan, C. Zhang, N. Atanasov, K. Karydis, D. D. Lee, and V. Kumar, End-to-End Navigation in Unknown Environments using Neural Networks. In Workshop on Learning Perception and Control for Autonomous Flight: Safety, Memory, and Efficiency, part of Robotics: Science and Systems (RSS) Conference, 2017.
S. Chen, A. Khan, N. Atanasov, K. Karydis, D. D. Lee, and V. Kumar, Neural Network Memory Architectures for Autonomous Robot Navigation, The Multi-Disciplinary Conf. on Reinforcement Learning and Decision Making (RLDM) – Abstracts Track, 2017.
Technical Reports
S. W. Chen, N. Atanasov, A. Khan, K. Karydis, D. D. Lee, and V. Kumar, Neural Network Memory Architectures for Autonomous Robot Navigation. arXiv preprint, arXiv:1705.08049.
ARCS Lab students are marked with *