Konstantinos Kapellos

Former Position:

Education:

Ph.D. in Real-time computer science, Robotics, Control Engineering, Ecole des Mines/ CMA

M.S. in ARAVIS : Algorithmics, Robotics, Automatics, Vision, Image And Signal University of Nice Sophia-Antipolis,

M.S. in Operational Research: Computer science and Mathematics of the Production University of Grenoble I,

Dipl. in Mathematics University of Athens

Research:

Doctoral Dissertation: Programming Environment for Robotic Reactive Applications.

(Advisor: Prof. B.Espiau.)

Research Interests include

Robot Programming at Task Level

Formal Analysis and Behavioral Verification on Robotic Systems

Development of the Orccad Programming Environment

Application on various Robotic Systems: Underwater Vehicules, Mobile Robots, Robot Manipulators, Electric Vehicles

Some Related Publications:

K. Kapellos, D. Simon, S. Granier and V. Rigaud: " Distributed Control of an Free-floating Underwater Manipulation System", 5th International Symposium on Experimental Robotics (ISER'97) , Barcelona, Spain, June 15-18, 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.

B. Espiau, K. Kapellos and M. Jourdan: "Verification in Robotics: Why and How?" , Robotics Research, the seventh International Symposium, October 1995, Giralt and Hirzinger editor, Springer Verlag.

D. Simon, K. Kapellos and B. Espiau "Control laws, Tasks and Procedures with Orccad: Application to the Control of an Underwater Arm" , to appear International Journal of Systems Science, 1997.

D. Simon, B. Espiau, K. Kapellos and R. Pissard-Gibollet: ``Orccad: Software Engineering for Real-time Robotics: A Technical Insight'', Robotica vol 15, pp 111-115, January 1997.

D. Simon, B. Espiau, E. Castillo, K. Kapellos: "Computer-aided Design of a Generic Robot Controller Handling Reactivity and Real-time Control Issues" , IEEE Transactions on Control Systems Technology vol 1, no 4, December 1993.

D. Simon, K. Kapellos and B. Espiau: Design of Control: Procedures for a Free-Floating Underwater Manipulation System, IEEE International Conference on Robotics and Automation, 1997.

D. Simon, K. Kapellos and B. Espiau: Control laws, Tasks and Procedures with Orccad: Application to the Control of an Underwater Arm, preprints of 6th IARP workshop on Underwater Robotics, Toulon, March 1996 .

B. Espiau, K. Kapellos, E. Coste-Mani\`ere, and N. Turro: Formal mission specification in an open architecture, International Symposium on Robotics and Manufacturing ISRAM96, Montpellier, France, May 1996.

K. Kapellos, S. Abdou, M. Jourdan, B. Espiau : ``Specification, Formal Verification and Implementation of Tasks and Missions for an Autonomous Vehicle", 4th International Symposium on Experimental Robotics, Stanford, USA, June 30- July 2, 1995.

R. Pissard-Gibollet, K. Kapellos, P. Rives, J.J. Borrelly : ``Real-Time Programming of Mobile Robot Actions Using Advanced Control Techniques", 4th International Symposium on Experimental Robotics, Stanford, USA, June 30- July 2, 1995.

D. Simon, K. Kapellos, B. Espiau, M. Jourdan : Formal Verification of Missions and Tasks, 2nd European Workshop on Real-Time and Hybrid Systems, Grenoble, France, 31-5/2-6 1995.

P. Rives, R. Pissard-Gibollet, K. Kapellos : ``Development of a Reactive Mobile Robot Using Real Time Vision", Third International Symposium on Experimental Robotics, Kyoto, Japan, Oct 28-30, 1993.

B. Espiau, K. Kapellos, M. Jourdan, and D. Simon : On the Validation of Robotics Control Systems. Part I: High level Specification and Formal verification, Inria Research Report no 2719, November 1995

K. Kapellos and B. Espiau : "Implementation with Orccad of a Method for Smooth Singularity Crossing" , in a 6-DOF Manipulator, Inria Research Report no 2654, September 1995.

Please send comments to Konstantinos.Kapellos@sophia.inria.fr.

Address: Projet ICARE INRIA, U.R.-Sophia Antipolis 2004, Route des Lucioles, B.P. 93, 06902 Sophia Antipolis, Cedex, FRANCE

Phone: (33) 4 93 65 78 39 FAX: (33) 4 93 65 76 43 E-mail: Konstantinos.Kapellos@sophia.inria.fr