Dimitris P. Tsakiris

Publications

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Journals:

R. Carta, M. Sfakiotakis, N. Pateromichelakis, J. Thone, D.P. Tsakiris and R. Puers, “A Multi-Coil Inductive Powering System for an Endoscopic Capsule with Vibratory Actuation”, Sensors and Actuators A: Physical, Elsevier, 2010 (under review).

D.P. Tsakiris, “Bio-inspired motion control for pedundulatory robotic locomotion”, J. Mol. Neurosci., 39 (Suppl. 1): S119, 2009.

M. Sfakiotakis and D.P. Tsakiris, “Biomimetic Centering for Undulatory Robots”, International Journal of Robotics Research, 26 (11/12), pp. 1267-1282, Sage Publications Ltd., November/December 2007.

G. LaSpina, M. Sfakiotakis, D.P. Tsakiris, A. Menciassi and P. Dario, “Polychaete-like Undulatory Robotic Locomotion in Unstructured Substrates”, IEEE Transactions on Robotics, 23 (6), pp. 1200-1212, December 2007.

M. Sfakiotakis and D.P. Tsakiris, “Neuromuscular Control of Reactive Behaviors for Undulatory Robots”, Neurocomputing, 70 (10-12), pp. 1907-1913, Elsevier, June 2007.

M. Sfakiotakis and D.P. Tsakiris, “SIMUUN: A Simulation Environment for Undulatory Locomotion”, International Journal of Modelling and Simulation, Vol. 26, No. 4, pp. 4430-4464, IASTED/Acta Press, 2006 (DOI: 10.2316/Journal.205.2006.4. 205-4430).

A. Argyros, D.P. Tsakiris and C. Groyer, “Biomimetic Centering Behavior: Mobile Robots with Panoramic Sensors”. IEEE Robotics and Automation Magazine , special issue on “Panoramic Robotics”, Eds. K. Daniilides and N. Papanikolopoulos, Vol. 11, No. 4, December 2004.

A. Argyros, P. Georgiadis, P. Trahanias and D.P. Tsakiris, “Semi-autonomous Navigation of a Robotic Wheelchair”. Journal of Intelligent and Robotic Systems , Vol. 34, pp. 315-329, 2002.

P.S. Krishnaprasad and D.P. Tsakiris, “Oscillations, SE(2)-Snakes and Motion Control: A Study of the Roller Racer”. Dynamical Systems, Vol. 16, No. 4, pp. 347-397, December 2001.

G. Kantor, V. Manikonda, A. Newman and D.P. Tsakiris, “Robotics for High-School Students in a University Environment”. Computer Science Education , special Issue on Robotics in Computer Science and Engineering Education, Eds. R. McCartney and V. Callaghan, Vol. 7, No. 2, pp. 257-278, 1996.

Y. Aloimonos and D.P. Tsakiris, “On the Visual Mathematics of Tracking”. Image and Vision Computing, Vol. 9, No. 4, pp. 235-251, August 1991.

Books:

D.P. Tsakiris, P. Rives and C. Samson, "Extending Visual Servoing Techniques to Nonholonomic Mobile Robots". In The Confluence of Vision and Control, Eds. G. Hager, D. Kriegman, S. Morse, Lecture Notes in Control and Information Systems, Springer-Verlag, 1998.

D.P. Tsakiris, K. Kapellos, C. Samson, P. Rives and J.-J. Borrelly, "Experiments in Real-time Vision-based Point Stabilization of a Nonholonomic Mobile Manipulator". In Experimental Robotics V: The Fifth International Symposium, Eds. A. Casals and A.T. de Almeida, Springer-Verlag, 1998.

D.P. Tsakiris, C. Samson and P. Rives, "Vision-Based Time-Varying Mobile Robot Control", In Advances in Robotics: The ERNET Perspective, Eds. C. Bonivento, C. Melchiorri and H. Tolle, pp. 163-172, World Scientific Publishing Co., 1996.

Y. Aloimonos and D.P. Tsakiris, “Tracking in a Complex Visual Environment”. In Computer Vision-ECCV'90, Ed. O. Faugeras, LNCS Vol. 427, pp. 249-258, Lecture Notes in Computer Science, Springer-Verlag, 1990.

Conferences:

R. Carta, N. Pateromichelakis, J. Thone, M. Sfakiotakis, D.P. Tsakiris and R. Puers, “A Wireless Powering System for a Vibratory-Actuated Endoscopic Capsule”. Proc. of the Eurosensors XXIV International Conference, Linz, Austria, September 5-8, 2010.
Received the conference's Best Paper Award (1st Prize).

M. Sfakiotakis, X. Zabulis, N. Pateromichelakis and D.P. Tsakiris, “Techniques for assisting motion and optical guidance of endoscopic capsules”. Proc. 2nd Hellenic Robotics Conference (HEROC 2010), Patras, Greece, December 9-10, 2010 (in Greek).

D.P. Tsakiris, “Contributions of robotic simulation and modeling for capsule endoscopy”. Extended abstract at the VECTOR Minisymposium as part of the 7th Intl. Conf. on Wearable Micro and Nano Technologies for Personalized Health (pHealth 2010), Berlin, Germany, May 26-28, 2010.

M. Sfakiotakis, X. Zabulis, and D.P. Tsakiris, “Endoscopic capsule line-of-sight alignment by visual servoing”. Extended abstract at the 7th Intl. Conf. on Wearable Micro and Nano Technologies for Personalized Health (pHealth 2010), Berlin, Germany, May 26-28, 2010.

M. Sfakiotakis and D.P. Tsakiris, “Undulatory and Pedundulatory Robotic Locomotion via Direct and Retrograde Body Waves”. Proc. of the IEEE Intl. Conference on Robotics and Automation (ICRA’09), pp. 3457-3463, Kobe, Japan, May 12-17, 2009.

G. Lopez-Nicolas, M. Sfakiotakis, D.P. Tsakiris, A.A. Argyros, C. Sagues and J.J. Guerrero, “Visual Homing for Undulatory Robotic Locomotion”. Proc. of the IEEE Intl. Conference on Robotics and Automation (ICRA’09), pp. 2629-2636, Kobe, Japan, May 12-17, 2009.

M. Sfakiotakis and D.P. Tsakiris, “Pedundulatory Robotic Locomotion: Centipede and Polychaete Modes in Unstructured Substrates”. Proc. of the 2008 IEEE International Conference on Robotics and Biomimetics (ROBIO 2008), Bangkok, Thailand, February 21-26, 2009.

X. Zabulis, A. Argyros and D.P. Tsakiris, “Lumen Detection for Capsule Endoscopy”. Proc. of the 2008 IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS 2008), pp. 3921-3926, Nice, France, September 22-26, 2008.

D.P. Tsakiris, “Computational vision techniques to support active capsule endoscopy”. Proc. of the 20th International Conference of the Society for Medical Innovation and Technology (SMIT’08), Vienna, Austria, August 28-30, 2008.

X. Zabulis, M. Sfakiotakis and D.P. Tsakiris, “Effects of Vibratory Actuation on Endoscopic Capsule Vision”. Proc. of the 30th Annual Intl. Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’08), pp. 5901-5904, Vancouver, Canada, August 20-24, 2008.

M. Sfakiotakis, D.P. Tsakiris and K. Karakasiliotis, “Polychaete-like Pedundulatory Robotic Locomotion”. Proc. of the IEEE Intl. Conference on Robotics and Automation (ICRA’07), pp. 269-274, Rome, Italy, April 11-13, 2007.

M. Sfakiotakis and D.P. Tsakiris, “Neural Control of Reactive Behaviors for Undulatory Robots”. Extended abstract and poster presentation at the Annual Computational Neuroscience Meeting (CNS*2006), Edinburgh, UK, July 15-18, 2006. Abstract published in the Book of Abstracts of the Conference, p. 92.

M. Sfakiotakis, D.P. Tsakiris and A. Vlaikidis, “Biomimetic Centering for Undulatory Robots”.
Submitted to the 1st IEEE Intl. Conference on Biomedical Robotics and Biomechatronics (BioRob'06),
Pisa, Italy, February 20-22, 2006.

D.P. Tsakiris, M. Sfakiotakis, A. Menciassi, G. LaSpina, and P. Dario, “Polychaete-like Undulatory Robotic Locomotion”. Proc. of the IEEE Intl. Conference on Robotics and Automation (ICRA’05), pp. 3029-3034, Barcelona, Spain, April 18-22, 2005.

D.P. Tsakiris, A. Menciassi, M. Sfakiotakis, G. LaSpina, and P. Dario, “Undulatory locomotion of polychaete annelids: mechanics, neural control and robotic prototypes”. Extended abstract, poster and presentation at the Annual Computational Neuroscience Meeting (CNS*2004), Baltimore, USA, July 17-22, 2004.
Best Presentation Award from the Organization of Computational Neurosciences.

M. Sfakiotakis and D.P. Tsakiris, “A Simulation Environment for Undulatory Locomotion”. Proc. of the IASTED Intl. Conf. on Applied Simulation and Modelling (ASM2004), pp. 154-159, Rhodes, Greece, June 28-30, 2004.

M. Roussou, P. Trahanias, G. Giannoulis, G. Kamarinos, A. Argyros, D.P. Tsakiris, P. Georgiadis, W. Burgard, D. Haehnel, A. Cremers, D. Schulz, M. Moors, E. Spirtounias, M. Marianthi, V. Savvaides, A. Reitelman, D. Konstantios, A. Katselaki, “Experiences from the Use of a Robotic Avatar in a Museum Setting”. In the Intl. Symposium on Virtual Reality, Archaeology, and Cultural Heritage (VAST 2001), Athens, Greece, Nov. 28-30, 2001. Publication in the proceedings of the symposium, pp.153-160, Eds. D. Arnold, A. Chalmers and D. Fellner, ACM, Inc., 2002.

A. Argyros and D.P. Tsakiris, “Corridor Following by Nonholonomic Mobile Robots Equipped with Panoramic Cameras”. Proc. of the 8th IEEE Mediterranean Conference on Control and Automation (MED2000), Eds. P.P. Groumpos, N.T. Koussoulas, P.J. Antsaklis, Rio, Greece, July 17-19, 2000.

D.P. Tsakiris, "Nonholonomic Robot Stabilization by Vision-based Time-varying Controls". Proc. of the First Nonlinear Control Network Pedagogical School, pp. 381-398, Eds. K. Kyriakopoulos and J.Tsinias, September 6-10, 1999.

D.P. Tsakiris, P. Rives and C. Samson, "Applying Visual Servoing Techniques to Control Nonholonomic Mobile Robots", Workshop on ``New Trends in Image-based Robot Servoing'', International Conference on Intelligent Robots and Systems (IROS'97), Grenoble, France, September 8-12, 1997.

D.P. Tsakiris, K. Kapellos, C. Samson, P. Rives and J.-J. Borrelly, "Experiments in Real-time Vision-based Point Stabilization of a Nonholonomic Mobile Manipulator", 5th International Symposium on Experimental Robotics (ISER'97) , Barcelona, Spain, June 15-18, 1997.

D.P. Tsakiris, C. Samson and P. Rives, "Vision-Based Time-Varying Stabilization of a Mobile Manipulator", 4th International Conference on Control, Automation, Robotics and Vision (ICARCV'96), Westin Stamford, Singapore, December 3-6, 1996.

D.P. Tsakiris, C. Samson and P. Rives, "Vision-Based Time-Varying Mobile Robot Control", Final European Robotics Network (ERNET) Workshop , Darmstadt, Germany, September 9-10, 1996.

P.S. Krishnaprasad and D.P. Tsakiris, "Oscillations, SE(2)-Snakes and Motion Control", 34rd IEEE Conference on Decision and Control, New Orleans, Louisiana, December 13-15, 1995.

P.S. Krishnaprasad and D.P. Tsakiris, "G-Snakes: Nonholonomic Kinematic Chains on Lie Groups", 33rd IEEE Conference on Decision and Control, Lake Buena Vista, Florida, December 14-16, 1994.

P.S. Krishnaprasad and D.P. Tsakiris, "2-Module Nonholonomic Variable Geometry Truss Assembly: Motion Control", 4th IFAC Symposium on Robot Control (SYROCO'94), Capri, Italy, September 19-21, 1994.

Technical Reports:

M. Sfakiotakis and D.P. Tsakiris, “SIMUUN: A Simulation Environment for Undulatory Locomotion”. Institute of Computer Science-FORTH Technical Report FORTH-ICS-TR-343, 20 pages, September 2004.

P.S. Krishnaprasad and D.P. Tsakiris, "Oscillations, SE(2)-Snakes and Motion Control: A Study of the Roller Racer". Institute of Computer Science-FORTH Technical Report FORTH-ICS-TR-276, 59 pages, 2000.

A. Argyros and D.P. Tsakiris, “Nonholonomic Mobile Robots Equipped with Panoramic Cameras: Corridor Following”. Institute of Computer Science-FORTH Technical Report FORTH-ICS-TR-272, 26 pages, 2000.

P.S. Krishnaprasad and D.P. Tsakiris, "Oscillations, SE(2)-Snakes and Motion Control: A Study of the Roller Racer". Center for Dynamics and Control of Smart Structures (CDCSS) Technical Report CDCSS TR 98-4, 108 pages, University of Maryland, College Park, 1998. (Also available as Institute for Systems Research (ISR) Technical Report ISR TR 98-35, University of Maryland, College Park, 1998).

G. Kantor, V. Manikonda, A. Newman and D.P. Tsakiris, "Robotics for High-School Students in a University Environment", Institute for Systems Research (ISR) Technical Report ISR TR 96-62, University of Maryland, College Park, 1998

D.P. Tsakiris, “Motion Control and Planning for Nonholonomic Kinematic Chains”,
Institute for Systems Research Technical Report Ph.D. 95-4, 188 pages, University of Maryland, College Park, 1995.

P.S. Krishnaprasad and D.P. Tsakiris, “G-Snakes: Nonholonomic Kinematic Chains on Lie Groups”.
Institute for Systems Research Technical Report Ph.D. 94-27, 23 pages, University of Maryland, College Park, 1994.

P.S. Krishnaprasad and D.P. Tsakiris, “Nonholonomic Variable Geometry Truss Assemblies; I: Motion Control”.
Institute for Systems Research Technical Report Ph.D. 93-90, 32 pages, University of Maryland, College Park, 1993.

J. Loncaric, J. Bartusek, F. de Comarmond, Y. Pati, D.P. Tsakiris and R. Yang, “Modular Dextrous Hand”,
Institute for Systems Research Technical Report 89-31, 15 pages, University of Maryland, College Park, 1989.

D.P. Tsakiris, “Visual Tracking Strategies”, Institute for Systems Research Technical Report M.S.-88-8, 110 pages, University of Maryland, College Park, 1988.

Dissertations and Theses:

D.P. Tsakiris, “Motion Control and Planning for Nonholonomic Kinematic Chains”, Ph.D. Dissertation,
Department of Electrical Engineering, University of Maryland, College Park, May 1995.
(Also available as Institute for Systems Research Technical Report Ph.D. 95-4, 188 pages, University of Maryland, College Park, 1995.)

D.P. Tsakiris, “Visual Tracking Strategies”, M.S. Thesis,
Department of Electrical Engineering, University of Maryland, College Park, May 1988.
(Also available as Institute for Systems Research Technical Report M.S.-88-8, 110 pages, University of Maryland, College Park, 1988.)

Page under construction. Incomplete publications list.
Last update May 20, 2005.

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