Giorgos Mamakoukas | Digital Portfolio

Publications

2020

Online data-driven control of robotic systems using derivative-based Koopman Operators
G. Mamakoukas, M. Castano, X. Tan, and T. D. Murphey
Transactions on Robotics (TRO), Under Review, 2020.

Learning memory-efficient stable linear dynamical systems for prediction and control
G. Mamakoukas, O. Xherija, and T. D. Murphey
Conference on Neural Information Processing Systems (NeurIPS), 2020.

Control-oriented modeling of soft robotic swimmer with Koopman Operators
M. Castano, A. Hess, G. Mamakoukas, T. Gao, T. D. Muprhey, and X. Tan
IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) , 2020.

2019

Local Koopman operators for data-driven control of robotic systems
G. Mamakoukas, M. Castano, X. Tan, and T. D. Murphey
Robotics: Science and Systems Proceedings (RSS), 2019. PDF

Feedback synthesis for underactuated systems using sequential second-order needle variations
G. Mamakoukas, M. Maciver, and T. D. Murphey
International Journal of Robotics Research, vol. 37, no. 13-14, pp. 1826–1853, 2019. PDF
RSS conference paper invited for full journal publication

Adaptive single action control policies for linearly parameterized systems
O. Ennasr, G. Mamakoukas, M. Castano, D. Coleman, T. D. Murphey, and X. Tan
ASME Dynamic Systems and Control Conference (DSCC), 2019.

2018

Superlinear convergence using controls based on second-order needle variations
G. Mamakoukas, M. MacIver, and T. D. Murphey
IEEE International Conference on Decision and Control (CDC), pp. 4301–4308, 2018. PDF

Ergodic exploration for adaptive sampling of water columns using gliding robotic fish
O. Ennasr, G. Mamakoukas, T. D. Murphey, and X. Tan
ASME Dynamic Systems and Control Conference (DSCC), p. V003T32A016, 2018. PDF

2017

Feedback synthesis for controllable underactuated systems using sequential second order actions
G. Mamakoukas, M. MacIver, and T. D. Murphey
Robotics: Science and Systems Proceedings, 2017. PDF, Video

2016

Controlling simulated underactuated underwater vehicles with added mass and velocity drift using sequential action control
G. Mamakoukas, M. MacIver, and T. D. Murphey
American Controls Conference. (ACC), pp. 4500 – 4506, 2016. PDF