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.
- Krontiris A. and Bekris K E.. “Efficiently Solving General Rearrangement Tasks: A Fast Extension Primitive for an Incremental Sampling-based Planner”. In International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016.
- Krontiris A., Bekris K E. and Kapadia M.. “ACUMEN: Activity-Centric Crowd Authoring Using Influence Maps”. In 29th International Conference on Computer Animation and Social Agents (CASA), Geneva, Switzerland, 2016.
- Krontiris A. and Bekris K E.. “Dealing with Difficult Instances of Object Rearrangement”. In Robotics: Science and Systems (RSS), Rome, Italy, 2015. Best Paper and Best Student Paper Award Finalists.
- Krontiris A. and Bekris K E. “Computational Tradeoffs Of Search Methods For Minimum Constraint Removal Paths”. In Symposium on Combinatorial Search (SoCS), Dead Sea, Israel, 2015.
- Krontiris A., Shome R., Dobson A., Kimmel A., and Bekris K E.. “Rearranging Similar Objects With A Manipulator Using Pebble Graphs”. In IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), Madrid, Spain, 2014.
- Littlefield Z., Krontiris A., Kimmel A., Dobson A., Shome R., and Bekris K E.. “An Extensible Software Architecture For Composing Motion And Task Planners”. In International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Bergamo, Italy, 2014.
- Krontiris A., Luna R., Bekris K E., "From Feasibility Tests to Path Planners for Multi-Agent Pathfinding", Symposium on Combinatorial Search (SoCS - 2013), Leavenworth, WA, July, 2013.
- Kimmel A., Dobson A., Littlefield Z., Krontiris A., Marble J, Bekris KE.. PRACSYS: An Extensible Architecture for Composing Motion Controllers and Planners. Simulation, Modeling and Programming for Autonomous Robots, Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR-2012), Tsukuba, Japan, Nov., 2012.
- Dobson A., Krontiris A., Bekris KE.. Sparse Roadmap Spanners. Workshop on the Algorithmic Foundations of Robotics, Workshop on the Algorithmic Foundations of Robotics (WAFR-2012), Cambridge, Massachusetts, Jun., 2012.
- Krontiris A., Louis S., Bekris K E., "Multi-Level Formation Roadmaps for Collision-Free Dynamic Shape Changes with Non-holonomic Teams", International Conference on Robotics and Automation (ICRA-12), Minnesota, MN, May, 2012.
- Krontiris A., Bekris K E., "Using Minimal Communication to Improve Decentralized Conflict Resolution for Non-holonomic Vehicles", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-11), San Francisco, CA, Sept., 2011.
- Krontiris A., Louis S., Bekris K E., "General Dynamic Formations for Non-Holonomic Systems Along Planar Curvilinear Coordinates", International Conference on Robotics and Automation (ICRA-11), Shanghai, China, May, 2011.
- Krontiris A., Louis S., Bekris K E., "Simulating Planar Aircraft Formations Along Curvilinear Coordinates", Third International Conference on Motion in Games, Zeist, Netherlands, Nov., 2010
- General Dynamic Formations for Non-holonomic Systems Along Planar Curvilinear Coordinates, CPS, Tuscon, Arizona, 2011.
2nd place for Graduate Student Association best paper award in University of Nevada, Reno, 2011 with the paper:
Krontiris A., Bekris K E., "Using Minimal Communication to Improve Decentralized Conflict Resolution for Non-holonomic Vehicles"
- 2nd place for Best Graduate Student in the Computer Science and Engineering department of the University of Nevada, Reno, 2011.
- CPE 670 - Autonomous Mobile Robots
- CS 683 - Multiagent Systems
- CS 790 - Planning Algorithms
- CS 682: Artificial Intelligence
- CS 681 Advance Computer Games Design
- CS 776 Evolutionary Computing
- Donkey Kong Vs Mario
Is developed in Java using the Min-Max algorithm
Is developed in Java using the Expected Min-Max algorithm
Is developed in C++ using Alegro for graphics
Department of Computer Science
Rutgers, The State University of New Jersey
110 Frelinghuysen Road
Piscataway, NJ 08854-8019, USA
email : TDK.email@example.com
Office: CBIM Room 16