Publications
📖 Journal Articles
[J8] A Minimal Subset Approach for Informed Keyframe Sampling in Large-Scale SLAM — (RA-L + ICRA’26)
Published in IEEE Robotics and Automation Letters (RA-L), Jan. 2026
Recommended citation: N. Stathoulopoulos, C. Kanellakis and G. Nikolakopoulos, “A Minimal Subset Approach for Informed Keyframe Sampling in Large-Scale SLAM,” in IEEE Robotics and Automation Letters, vol. 11, no. 1, pp. 738-745, 2026.
GitHub | IEEExplore | arXiv | YouTube
[J7] Have We Scene It All? Scene Graph-Aware Deep Point Cloud Compression — (RA-L + ICRA’26)
Published in IEEE Robotics and Automation Letters (RA-L), Dec. 2025
Recommended citation: N. Stathoulopoulos, C. Kanellakis and G. Nikolakopoulos, “Have We Scene It All? Scene Graph-Aware Deep Point Cloud Compression,” in IEEE Robotics and Automation Letters, vol. 10, no. 12, pp. 12477-12484, 2025.
GitHub | IEEExplore | arXiv | YouTube
[J6] Deployment of an Aerial Multi-agent System for Automated Task Execution in Large-scale Underground Mining Environments — (T-FR + ICRA’26)
Published in IEEE Transactions on Field Robotics (T-FR), Jun. 2025
Recommended citation: N. Dahlquist, S. Nordström, N. Stathoulopoulos, B. Lindqvist, A. Saradagi and G. Nikolakopoulos, “Deployment of an Aerial Multiagent System for Automated Task Execution in Large-Scale Underground Mining Environments,” in IEEE Transactions on Field Robotics, vol. 2, pp. 2997-1101, 2025.
[J5] Safety Inspections and Gas Monitoring in Hazardous Mining Areas After Blasting Using Autonomous UAVs — (JFR)
Published in Journal of Field Robotics (JFR), Jan. 2025
Recommended citation: S. Nordström, N. Stathoulopoulos, N. Dahlquist, B. Lindqvist, I. Tevetzidis, C. Kanellakis, G. Nikolakopoulos, “Safety Inspections and Gas Monitoring in Hazardous Mining Areas After Blasting Using Autonomous UAVs,” Journal of Field Robotics, vol. 42, pp. 2076-2094, 2025
[J4] FRAME: A Modular Framework for Autonomous Map Merging: Advancements in the Field — (T-FR + ICRA’25)
Published in IEEE Transactions on Field Robotics (T-FR), Jun. 2024
Recommended citation: N. Stathoulopoulos, B. Lindqvist, A. Koval, A. -A. Agha-Mohammadi and G. Nikolakopoulos, “FRAME: A Modular Framework for Autonomous Map Merging: Advancements in the Field,” in IEEE Transactions on Field Robotics, vol. 1, pp. 1-26, 2024
GitHub | IEEExplore | arXiv
[J3] Communication-Aware Control of Large Data Transmissions via Centralized Cognition and 5G Networks for Multi-Robot Map Merging
Published in Journal of Intelligent & Robotic Systems (JIRS), Jan. 2024
Recommended citation: G. Damigos, N. Stathoulopoulos, A. Koval, T. Lindgren and G. Nikolakopoulos, “Communication-Aware Control of Large Data Transmissions via Centralized Cognition and 5G Networks for Multi-Robot Map Merging,” in Journal of Intelligent & Robotic Systems, vol. 110, Art. no. 22, 2024.
[J2] 3DEG: Data-driven Descriptor Extraction for Global Re-localization in Subterranean Environments
Published in Expert Systems with Applications (ESWA), Mar. 2024
Recommended citation: N. Stathoulopoulos, A. Koval and G. Nikolakopoulos, “3DEG: Data-driven Descriptor Extraction for Global Re-localization in Subterranean Environments,” in Expert Systems with Applications, vol. 237(B), Art. no. 121508, 2024.
[J1] A Comparative Field Study of Global Pose Estimation Algorithms in Subterranean Environments
Published in International Journal of Control, Automation and Systems (IJCAS), Feb. 2024
Recommended citation: N. Stathoulopoulos, A. Koval and G. Nikolakopoulos, “A Comparative Field Study of Global Pose Estimation Algorithms in Subterranean Environments,” International Journal of Control, Automation and Systems, vol. 22, pp. 690-704, 2024.
📑 Conference Papers
[C8] Real-time Point Cloud Data Transmission via L4S for 5G-Edge-Assisted Robotics
Submitted in the 2026 IFAC World Congress
Recommended citation: G. Damigos, N. Stathoulopoulos, A. S. Seisa, S. Sandberg and G. Nikolakopoulos, “Real-time Point Cloud Data Transmission via L4S for 5G-Edge-Assisted Robotics,” 2025
[C7] A Hierarchical Graph-Based Terrain-Aware Autonomous Navigation Approach for Complementary Multimodal Ground-Aerial Exploration — (ICRA’25)
Published in the 2025 IEEE International Conference on Robotics and Automation (ICRA)
Recommended citation: A. Patel, M. A. V. Saucedo, N. Stathoulopoulos, V. N. Sankaranarayanan, I. Tevetzidis, C. Kanellakis and G. Nikolakopoulos, “A Hierarchical Graph-Based Terrain-Aware Autonomous Navigation Approach for Complementary Multimodal Ground-Aerial Exploration,” 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, USA, pp. 15879-15885, 2025
[C6] Leveraging Computation of Expectation Models for Commonsense Affordance Estimation on 3D Scene Graphs — (IROS’24)
Published in the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Recommended citation: M. A. V. Saucedo, N. Stathoulopoulos, A. Patel, C. Kanellakis and G. Nikolakopoulos, “Leveraging Computation of Expectation Models for Commonsense Affordance Estimation on 3D Scene Graphs,” 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, pp. 9797-9802, 2024
IEEExplore | arXiv | YouTube
[C5] RecNet: An Invertible Point Cloud Encoding through Range Image Embeddings for Multi-Robot Map Sharing and Reconstruction — (ICRA’24)
Published in the 2024 IEEE International Conference on Robotics and Automation (ICRA)
Recommended citation: N. Stathoulopoulos, M. A. V. Saucedo, A. Koval and G. Nikolakopoulos, “RecNet: An Invertible Point Cloud Encoding through Range Image Embeddings for Multi-Robot Map Sharing and Reconstruction,” 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, pp. 4883-4889, 2024
IEEExplore | arXiv | YouTube
[C4] Redundant and Loosely Coupled LiDAR-Wi-Fi Integration for Robust Global Localization in Autonomous Mobile Robotics
Published in the 2023 21st International Conference on Advanced Robotics (ICAR)
Recommended citation: N. Stathoulopoulos, E. Pagliari, L. Davoli and G. Nikolakopoulos, “Redundant and Loosely Coupled LiDAR-Wi-Fi Integration for Robust Global Localization in Autonomous Mobile Robotics,” 2023 21st International Conference on Advanced Robotics (ICAR), Abu Dhabi, United Arab Emirates, pp. 121-127, 2023
[C3] Irregular Change Detection in Sparse Bi-Temporal Point Clouds Using Learned Place Recognition Descriptors and Point-to-Voxel Comparison — (IROS’23)
Published in the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Recommended citation: N. Stathoulopoulos, A. Koval and G. Nikolakopoulos, “Irregular Change Detection in Sparse Bi-Temporal Point Clouds Using Learned Place Recognition Descriptors and Point-to-Voxel Comparison,” 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, pp. 8077-8083, 2023
[C2] FRAME: Fast and Robust Autonomous 3D Point Cloud Map-Merging for Egocentric Multi-Robot Exploration — (ICRA’23)
Published in the 2023 IEEE International Conference on Robotics and Automation (ICRA)
Recommended citation: N. Stathoulopoulos, A. Koval, A. -a. Agha-mohammadi and G. Nikolakopoulos, “FRAME: Fast and Robust Autonomous 3D Point Cloud Map-Merging for Egocentric Multi-Robot Exploration,” 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, pp. 3483-3489, 2023
GitHub | IEEExplore | arXiv
[C1] School Hackerspaces: Supporting Informatics in Secondary Education
Published in the 12th Conference on Informatics in Education (CIE), pp. 88‑95, 2020
🛠️ Workshop Papers
[W1] Does Sample Space Matter? Preliminary Results on Keyframe Sampling Optimization for LiDAR-based Place Recognition — (IROS’24) 🏅
Best Paper Award in the Standing the Test of Time Workshop: Retrospective and Future of World Representations for Lifelong Robotics at 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Recommended citation: N. Stathoulopoulos, V. Sumanthy, C. Kanellakis and G. Nikolakopoulos, “Does Sample Space Matter? Preliminary Results on Keyframe Sampling Optimization for LiDAR-based Place Recognition,” Standing the Test of Time Workshop: Retrospective and Future of World Representations for Lifelong Robotics at 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, October 14-15, 2024
📄 Patents
[P1] First node, second node and methods performed thereby for handling mapping information enabling to map a space
Patent pending, Ericsson AB, WO2024199687A1, Application No. PCT/EP2023/062812, 2023
Inventors: G Damigos, N. Stathoulopoulos, T. Lindgren, S. Sandberg, G. Nikolakopoulos