Book Chapters
1) Y. Kantaros, M. M. Zavlanos and G. J. Pappas: 'Connectivity of Dynamic Graphs', Baillieul J., Samad T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5102-9_213-2, Sept. 2020
Journal Articles
16) Yiannis Kantaros: `Accelerated Reinforcement Learning for Temporal Logic Control Objectives' (under review)
15) Yiannis Kantaros, Matthew Malencia, George J. Pappas: `Reactive Multi-Robot Temporal Logic Planning in Unknown Occupancy Grid Maps' (under review).
14) Yiannis Kantaros, Qi Jin, George J. Pappas: `Sensor-Based Temporal Logic Planning in Uncertain Semantic Maps', IEEE Transactions on Robotics (TRO), 2022 (accepted)
13) Yiannis Kantaros, Brent Schlotfeldt, Nikolay Atanasov, and George J. Pappas `Sampling-based Planning for Non-myopic Multi-Robot Information Gathering', Autonomous Robots, (), 1-18, DOI: 10.1007/s10514-021-09995-4, June 2021
12) Xusheng Luo, Yiannis Kantaros, Michael M. Zavlanos: `An Abstraction-Free Method for Multi-Robot Temporal Logic Optimal Control Synthesis', IEEE Transactions on Robotics (TRO), March 2021
11) Esen Yel, Taylor J Carpenter, Carmelo Di Franco, Radoslav Ivanov, Yiannis Kantaros, Insup Lee, James Weimer, Nicola Bezzo: 'Assured Run-time Monitoring and Planning: Towards Verication of Deep Neural Networks for Safe Autonomous Operations', Robotics and Automation Magazine 2020.
10) Yiannis Kantaros, Michael M. Zavlanos: “STyLuS* : A Temporal Logic Optimal Control Synthesis Algorithm for Large-Scale Multi-Robot Systems”, International Journal of Robotics Research (IJRR) April 2020, DOI: 10.1177/0278364920913922. [PDF] [code available upon request]
9) Reza Khodayi-mehr, Yiannis Kantaros, Michael M. Zavlanos: “Distributed State Estimation using Intermittently Connected Mobile Robot Networks”, IEEE Transactions on Robotics (TRO), Vol. PP, No. PP. pages 1-16, DOI 10.1109/TRO.2019.2897865, March 2019. [PDF] [Video]
8) Yiannis Kantaros, Meng Guo, and Michael M. Zavlanos: “Temporal Logic Task Planning and Intermittent Connectivity Control of Mobile Robot Networks”, IEEE Transactions on Automatic Control (TAC), Vol. PP, No. PP, pp. 1-16, DOI 10.1109/TAC.2019.2893161, January 2019. [PDF] [Video #1] [Video #2]
7) Y. Kantaros, B. Johnson, S. Chowdhury, D. J. Cappelleri, and M. M. Zavlanos: “Control of Magnetic Microrobot Teams for Temporal Micromanipulation Tasks”, IEEE Transactions on Robotics (TRO), Vol. 34, No. 6, pp. 1472-1489, December 2018. [PDF] [Video]
6) Yiannis Kantaros, Michael M. Zavlanos: “Sampling-Based Optimal Control Synthesis for Multi- Robot Systems under Global Temporal Tasks”, IEEE Transactions on Automatic Control (TAC), Vol. PP, No. 99, pp. 1-1, July 2018, DOI: 10.1109/TAC.2018.2853558. [PDF]
5) Yiannis Kantaros, Michael M. Zavlanos: “Distributed Intermittent Connectivity Control of Mobile Robot Networks”, IEEE Transactions on Automatic Control (TAC), Vol. 62, No. 7, pp. 3109-3121, July 2017. [PDF]
4) Yiannis Kantaros, Michael M. Zavlanos: “Global Planning for Multi-Robot Communication Networks in Complex Environments”, IEEE Transactions on Robotics (TRO), Vol. 32, No. 5, pp. 1045-1061, October 2016. [PDF] [Video]
3) Yiannis Kantaros, Michael M. Zavlanos: “Distributed Communication-Aware Coverage Control by Mobile Sensor Networks”, Automatica, Vol. 63, pp. 209-220, January 2016. [PDF] [Video]
2) Yiannis Kantaros, Michalis Thanou, Anthony Tzes: “Distributed Coverage Control for Concave Areas by a Heterogeneous Robot-Swarm with Visibility Sensing Constraints”, Automatica, Vol. 53, pp. 195-207, March 2015. [PDF] [Video]
1) Yiannis Stergiopoulos, Yiannis Kantaros, Anthony Tzes: “Distributed Control of Mobile Sensor Networks under RF Connectivity Constraints”, International Journal of Distributed Sensor Networks (IJDSN), doi:10.1155/2012/741821, Vol. 2012, Article ID 741821, 7 pages, 2012. [PDF]
Conference Papers
23) M. Cleaveland, E. Yel, Y. Kantaros, I. Lee, N. Bezzo: `Learning-based Planning and Control in Dynamic Environments with Intermittent Information', In Proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japam, October 2022 (under review).
22) M. Tzes,V. Vasilopoulos, Y. Kantaros, G. J. Pappas: `Reactive Informative Planning for Mobile Manipulation Tasks under Sensing and Environmental Uncertainty', IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, PA, June 2022 (to appear).
21) V. Vasilopoulos*, Y. Kantaros*, G. Pappas, and D. Koditschek, `Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments', in IEEE International Conference on Robotics and Automation, Xi’an, China, ICRA 2021, [*authors with equal contribution].
20) Yiannis Kantaros, George J. Pappas: 'Scalable Active Information Acquisition for Multi-Robot Systems', IEEE International Conference on Robotics and Automation (ICRA), Xian, China, June 2020
19) Y. Kantaros, T. Carpenter, K. Sridhar, I. Lee, J. Weimer: `Real-Time Detectors for Adversarial Digital and Physical Inputs to Perception Systems', 12th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), 2021 (accepted)
18) Hannes Rovina, Tahiya Salam, Yiannis Kantaros, and M. Ani Hsieh: 'Asynchronous Adaptive Sampling and Reduced-Order Modeling of Dynamic Processes by Robot Teams via Intermittently Connected Networks', In Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, November 2020.
17) Yiannis Kantaros, Matthew Malencia, Vijay Kumar, and George J. Pappas `Reactive Temporal Logic Planning for Multiple Robots in Unknown Environments', in IEEE International Conference on Robotics and Automation (ICRA), Paris, France, June 2020.
16) M. Hasanbeig, Y. Kantaros, A. Abate, D. Kroening, G. J. Pappas, I. Lee: `Reinforcement Learning for Temporal Logic Control Synthesis with Probabilistic Satisfaction Guarantees', In Proceedings of the 58th IEEE Conference on Decision and Control (CDC), Nice, France, December 2019.
15) Yiannis Kantaros, and George J. Pappas `Optimal Temporal Logic Planning for Multi-Robot Systems in Uncertain Semantic Maps', In Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, Hong Kong, November 2019.
14) Yiannis Kantaros, Brent Schlotfeldt, Nikolay Atanasov, and George J. Pappas `Asymptotically Optimal Planning for Non-myopic Multi-Robot Information Gathering', In Proceedings of the 2019 Robotics: Science and Systems (RSS), Freiburg, Germany, June 2019. [Video]
13) Q. Gao, D. Hajinezhad, Y. Zhang, Y. Kantaros, and M. M. Zavlanos: `Reduced Variance Deep Reinforcement Learning with Temporal Logic Specifications', 10th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), Montreal, Canada, Apr. 2019, accepted.
12) Yiannis Kantaros and Michael M. Zavlanos: `Temporal Logic Optimal Control for Large-Scale Multi-Robot Systems: 10^{400} States and Beyond’ in 55th IEEE Conference on Decision and Control (CDC), Miami Beach, FL, December 2018, pp. 2519-2524 [PDF].
11) Yihui Feng, Reza Khodayi-mehr, Yiannis Kantaros, Luke Calkins, and Michael M. Zavlanos: `Active Acoustic Impedance Mapping using Mobile Robots’ in 55th IEEE Conference on Decision and Control (CDC), Miami Beach, FL, December 2018, pp. 3910-3915 [PDF].
10) Y. Kantaros and M. M. Zavlanos: ‘Distributed Optimal Control Synthesis for Multi-Robot Systems under Global Temporal Tasks’, Proc. 9th ACM/IEEE International Conference on Cyber- Physical Systems (ICCPS), April 2018, pp. 162-173 [PDF].
9) Y. Kantaros and M. M. Zavlanos: ‘Distributed Intermittent Communication Control of Mobile Robot Networks under Time-Critical Dynamic Tasks’, in IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018, pp. 5028-5033 [PDF].
8) Y. Kantaros and M. M. Zavlanos: ‘Sampling-based Control Synthesis for Multi-Robot Systems under Global Temporal Specifications’, Proc. 8th ACM/IEEE International Conference on Cyber- Physical Systems (ICCPS), Pittsburgh, PA, April 2017, pp. 3-13. [PDF]
7) Y. Kantaros and M. M. Zavlanos: “Simultaneous Intermittent Communication Control and Path Optimization in Networks of Mobile Robots” in 55th IEEE Conference on Decision and Control (CDC), Las Vegas, Nevada, December 2016, pp. 1794-1795. [PDF]
6) Y. Kantaros and M. M. Zavlanos: “A Distributed LTL-based Approach for Intermittent Communication in Mobile Robot Networks” in 2016 American Control Conference (ACC), Boston, MA, July 2016, pp. 5557-5562. [PDF]
5) Y. Kantaros and M. M. Zavlanos: “Intermittent Connectivity Control in Mobile Robot Networks” in 49th Asilomar Conference on Signals, Systems and Computers, Pacific Grove, CA, November 2015, pp. 1125-1129. [PDF]
4) Yiannis Kantaros and M. M. Zavlanos: “Distributed Simultaneous Coverage and Communication Control by Mobile Sensor Networks” in 2nd IEEE Global Conference on Signal and Information Processing (GlobalSIP), Atlanta, Georgia, December 2014, pp. 1001-1005 [Best Paper Award]. [PDF]
3) Yiannis Kantaros and M. M. Zavlanos: “Communication-Aware Coverage Control for Robotic Sensor Networks”, in 53rd IEEE Conference on Decision and Control (CDC), Los Angeles, CA, December 2014, pp. 6863-6865. [PDF]
2) Yiannis Kantaros, Michalis Thanou, Anthony Tzes: “Visibility-oriented Coverage Control of Mobile Robotic Networks on Non-convex Regions”, in Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, June 2014, pp. 1126-1131.[PDF]
1) Yiannis Stergiopoulos, Yiannis Kantaros, Anthony Tzes: “Connectivity-aware Coordination of Robotic Networks for Area Coverage Problem”, in Proceedings of the 2012 IEEE International Conference on Industrial Technology (ICIT), Athens, Greece, March 2012, pp. 36-40. [PDF]