Sotiris Papatheodorou

PhD student at the Smart Robotics Lab in Imperial College London

sotiris@papatheodorou.xyz

https://sotiris.papatheodorou.xyz

Research Interests

Autonomous Exploration, 3D Mapping and Reconstruction

Education

PhD Student

Smart Robotics Lab, Department of Computing, Imperial College London, UK

Supervisor: Prof. Stefan Leutenegger

October 2018 - Present

Diploma of Electrical and Computer Engineering

Department of Electrical and Computing Engineering, University of Patras, GR

Joint Bachelor's and Master's degree, 300 ECTS
Diploma GPA: 8.4/10 (top 2%)

October 2011 - March 2017

Experience

Researcher

Smart Robotics Lab, School of Computation, Information and Technology, Technical University of Munich, DE

March 2023 - Present

Research Engineer

Member of Prof. Anthony Tzes' lab in New York University Abu Dhabi.

August 2017 - August 2018

Undergaduate Researcher

Member of the University of Patras' team for the European Union's Aeroworks 2020 project. Work has been accepted in the 1st deliverable.

October - December 2016

Awards

President's PhD Scholarship

Awarded from Imperial College London in 2018.

Skills

Programming Languages

C, C++, Go, Python, MATLAB, Octave, POSIX Shell, Bash

Software Development

ROS, OpenCV, SDL, Git, CMake, Make

Technical Writing

Articles, reports, presentations, posters

Languages

Greek (native), English (fluent), French (basic)

Other

Video editing, HTML/CSS, Linux system administration

Journal Articles

  1. N. Funk, J. Tarrio, S. Papatheodorou, P. F. Alcantarilla, S. Leutenegger, Orientation-Aware Hierarchical, Adaptive-Resolution A* Algorithm for UAV Trajectory Planning, IEEE Robotics and Automation Letters, 2023
  2. M. Popović, F. Thomas, S. Papatheodorou, N. Funk, T. Vidal-Calleja, S. Leutenegger, Volumetric Occupancy Mapping With Probabilistic Depth Completion for Robotic Navigation, IEEE Robotics and Automation Letters, 2021
  3. N. Funk, J. Tarrio, S. Papatheodorou, M. Popović, P. F. Alcantarilla, S. Leutenegger, Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning, IEEE Robotics and Automation Letters, 2021
  4. M. Tzes, S. Papatheodorou, A. Tzes, Visual Area Coverage by Heterogeneous Aerial Agents Under Imprecise Localization, IEEE Control Systems Letters, 2018
  5. S. Papatheodorou, A. Tzes, K. Giannousakis, Y. Stergiopoulos, Distributed area coverage control with imprecise robot localization: Simulation and experimental studies, International Journal of Advanced Robotic Systems, 2018
  6. S. Papatheodorou, A. Tzes, Y. Stergiopoulos, Collaborative visual area coverage, Robotics and Autonomous Systems, 2017

Conference Papers

  1. S. Zhou, S. Papatheodorou, S. Leutenegger, A. P. Schoellig, Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments, International Conference on Robotics and Automation, 2024
  2. S. Papatheodorou, N. Funk, D. Tzoumanikas, C. Choi, B. Xu, S. Leutenegger, Finding Things in the Unknown: Semantic Object-Centric Exploration with an MAV, International Conference on Robotics and Automation, 2023
  3. Y. Wang, N. Funk, M. Ramezani, S. Papatheodorou, M. Popović, M. Camurri, S. Leutenegger, M. Fallon, Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks, International Conference on Robotics and Automation, 2021
  4. A. Tsoukalas, A. Tzes, S. Papatheodorou, F. Khorrami, UAV-deployment for city-wide area coverage and computation of optimal response trajectories, International Conference on Unmanned Aircraft Systems, 2020
  5. A. Dai, S. Papatheodorou, N. Funk, D. Tzoumanikas, S. Leutenegger, Fast Frontier-based Information-driven Autonomous Exploration with an MAV, International Conference on Robotics and Automation, 2020
  6. N. Bousias, S. Papatheodorou, M. Tzes, A. Tzes, Collaborative visual area coverage using aerial agents equipped with PTZ-cameras under localization uncertainty, European Control Conference, 2019
  7. M. Tzes, S. Papatheodorou, A. Tzes, Collaborative Visual Area Coverage by Aerial Agents under Positioning Uncertainty, 26th Mediterranean Conference on Control and Automation, 2018
  8. S. Papatheodorou, M. Smyrnakis, T. Hamidou, A. Tzes, Path Planning and Task Assignment for Data Retrieval from Wireless Sensor Nodes Relying on Game-Theoretic Learning, 5th International Conference on Control, Decision and Information Technologies, 2018
  9. S. Papatheodorou, A. Tzes, K. Giannousakis, Experimental studies on distributed control for area coverage using mobile robots, 25th Mediterranean Conference on Control and Automation, 2017
  10. S. Papatheodorou, A. Tzes, Cooperative visual convex area coverage using a tessellation-free strategy, 56th Conference on Decision and Control, 2017
  11. S. Papatheodorou, Y. Stergiopoulos, A. Tzes, Distributed area coverage control with imprecise robot localization, 24th Mediterranean Conference on Control and Automation, 2016

Book Chapters

  1. S. Papatheodorou, A. Tzes, Theoretical and Experimental Collaborative Area Coverage Schemes Using Mobile Agents, Applications of Mobile Robots, 2019

Theses

  1. S. Papatheodorou, Cooperative control for area coverage by robots with positioning uncertainty, Department of Electrical and Computer Engineering, University of Patras, 2017