Maria Koskinopoulou

eGRAP: Graph-Based Adaptive Planning for Dual-arm Robotic Disassembly of Electronic Devices

Adip Ranjan Das, Xianwen Kong, Maria Koskinopoulou

Tracking and inspection of subsea pipelines and cables using underwater vehicles: A comprehensive review

Favour O. Adetunji, Vibhav Bharti, Maria Koskinopoulou, Yvan R. Petillot et autres

The significance of underwater cables and pipelines is paramount in today’s world, driven by factors such as the expansion of offshore wind farms, the demand for high-bandwidth network connections across continents, and ongoing offshore petroleum extraction activities. Ensuring the continual operation and …

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Graph-Based Adaptive Planning for Coordinated Dual-Arm Robotic Disassembly of Electronic Devices (eGRAP)

Adip Ranjan Das, Maria Koskinopoulou

E-waste is growing rapidly while recycling rates remain low. We propose an electronic-device Graph-based Adaptive Planning (eGRAP) that integrates vision, dynamic planning, and dual-arm execution for autonomous disassembly. A camera-equipped arm identifies parts and estimates their poses, and a directed graph encodes …

Graph-Based Adaptive Planning for Coordinated Dual-Arm Robotic Disassembly of Electronic Devices (eGRAP)

Adip Ranjan Das, Maria Koskinopoulou

E-waste is growing rapidly while recycling rates remain low. We propose an electronic-device Graph-based Adaptive Planning (eGRAP) that integrates vision, dynamic planning, and dual-arm execution for autonomous disassembly. A camera-equipped arm identifies parts and estimates their poses, and a directed graph encodes …

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Dexterity-Aware Artificial Potential Fields for Reactive Manipulation

Michele Grimaldi, Daniel Haro Mendoza, Erik Peña Medina, M. Buchholz et autres

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Cathbot-Pro: A Handheld Robotic Device for Vision-Guided Peripheral Intravenous Catheterization Using NIR Imaging

Maria Koskinopoulou, Alperen Acemoğlu, Lorenzo Civati, Leonardo S. Mattos

it (code pays fourni par la source)

Context-Aware Behavior Learning with Heuristic Motion Memory for Underwater Manipulation

M. Buchholz, Ignacio Carlucho, Michele Grimaldi, Maria Koskinopoulou et autres

Autonomous motion planning is critical for efficient and safe underwater manipulation in dynamic marine environments. Current motion planning methods often fail to effectively utilize prior motion experiences and adapt to real-time uncertainties inherent in underwater settings. In this paper, we introduce an …

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MAPPS: A Multi-Agent Pick-and-Place System for Efficient Robotic Sorting

Konstantinos Kokkalisxsp, Fotios K. Konstantinidis, Maria Koskinopoulou, Georgios Tsimiklis et autres

This paper introduces MAPPS, a conceptual framework for multi-agent pick-and-place in robotic sorting. MAPPS integrates multi-modal sensing, real-time classification, and a decision-making module for dynamic task allocation. Two use cases illustrate the requirements of homogeneous and heterogeneous multi-agent systems: Construction and Demolition …

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Towards Autonomous Subsea Longitudinal Object Detection and Tracking Using a Multi-beam Echo-Sounder

Favour O. Adetunji, Vibhav Bharti, Yvan Pétillot, Maria Koskinopoulou et autres

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RaapWaste: Robot- and Application-Agnostic Planning for Efficient Construction and Demolition Waste Sorting

Konstantinos Kokkalis, Fotios K. Konstantinidis, Maria Koskinopoulou, Georgios Tsimiklis et autres

Robotic waste sorting systems offer a scalable and consistent alternative to manual sorting for Construction and Demolition Waste (CDW) by reducing labor-intensive tasks and exposure to hazardous conditions, while enabling the extraction of high-purity materials (e.g., polymers) from the waste streams. Despite …

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Ultrasound-Guided Robotic Aspirator for Autonomous Thoracentesis in Pleural Effusion Treatment

Diego Velásquez, S. Shabana, Joao Gracio Lopes, Mustafa Suphi Erden et autres

Thoracentesis is a crucial yet challenging procedure for treating pleural effusion, a condition characterized by the accumulation of excess fluid in the pleural space. Despite its routine use, the procedure demands precise needle placement to avoid complications such as pneumothorax or hemorrhage. …

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Context-Aware Behavior Learning with Heuristic Motion Memory for Underwater Manipulation

M. Buchholz, Ignacio Carlucho, Michele Grimaldi, Maria Koskinopoulou et autres

Autonomous motion planning is critical for efficient and safe underwater manipulation in dynamic marine environments. Current motion planning methods often fail to effectively utilize prior motion experiences and adapt to real-time uncertainties inherent in underwater settings. In this paper, we introduce an …