Athanasios Krontiris


I am interested in motion planning and its applications in robotics and simulation. Currently I am working on robot manipulation challenges, especially when robots have to deal with clutter and multiple objects in the environment. A key question in this context is rearranging objects in a desirable configuration, where important combinatorial challenges arise. See a recent paper at the Humanoids 2014 conference: Rearranging Similar Objects with a Manipulator using Pebble Graphs.

Towards this objective, I am looking into how to utilize combinatorial, graph-based algorithms for multi-agent pathfinding to solve continuous multi-agent pathfinding problems efficiently, while still providing probabilistic completeness. More information for such combinatorial solutions can be found on the page on Polynomial-time Multi-Robot Path Planning with Completeness Guarantees.

I am also assisting in the development of a multi-agent physics-based simulation tool that is developed by the PRACSYS group.

I have worked on a project for developing a strategy game for the American Navy, a project supported by the Office of Naval Research. My part was to develop controllers for multiple aircraft to maintain a formation while respecting motion constraints. Moreover, the aircraft must try to avoid static or dynamic obstacles while they have to keep their formation. You can find more information on the page on Formations for Non-holonomic Vehicles using Curvilinear Coordinates. The project was headed by Dr. Sushil Louis and Dr. Kostas Bekris.

For my Master's degree I also worked on developing decentralized reactive collision avoidance solutions. In this work multiple aircraft avoid each other while moving towards their target. This kind of problems is important in cyber-physical systems as well as simulations. In this work, we consider aircraft-like system that employ minimal communication so as to avoid each other and aim towards guaranteeing that eventually all of them will be able to land. You can find more information on the page dealing with Decentralized Motion Coordination.


I am originally from Greece, where I received a Bachelor's degree in Computer Science from the University of Crete (2007). On August 2009 I joined the Department of Computer Science and Engineering at the University of Nevada, Reno (UNR) as a graduate student. In May 2011 I completed a Master's degree in Computer Science. On July 2012 I moved to Rutgers, the State University of New Jersey where I continue my PhD work under the supervision of Dr. Kostas Bekris.



  • General Dynamic Formations for Non-holonomic Systems Along Planar Curvilinear Coordinates, CPS, Tuscon, Arizona, 2011.


Related Courses

Other Projects

  • Chess
  • Is developed in Java using the Min-Max algorithm

  • Backgammon
  • Is developed in Java using the Expected Min-Max algorithm

  • Donkey Kong Vs Mario
  • Is developed in C++ using Alegro for graphics

  • iKillBugs
  • Is a game that developed by Ilias Apostolopoulos and me for iPhone. We used the cocos2d library for graphics and the iPhone accelerometer to make this game more exiting

Contact Info

Department of Computer Science
Rutgers, The State University of New Jersey
110 Frelinghuysen Road
Piscataway, NJ 08854-8019, USA

Phone:(775) 771-3601
email :
Office: CBIM Room 16