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#Sotiris Papatheodorou

PhD student at the Smart Robotics Lab in Imperial College London

#Research Interests

SLAM, Unmanned Aerial Vehicles, Multi-Agent Systems


#PhD Student

Smart Robotics Lab, Department of Computing, Imperial College London, UK

Supervisor: Dr. Stefan Leutenegger

October 2018 - October 2022 (estimated)

#Diploma of Electrical and Computer Engineering

Department of Electrical and Computing Engineering, University of Patras, GR

Joint Bachelor's and Master's degree, 300 ECTS Diploma GPA: 8.43/10 (top 2%) Master's in Systems and Control GPA: 9.64/10

October 2011 - March 2017

#Diploma Thesis

Cooperative control for area coverage by robots with positioning uncertainty Supervisor: Prof. Anthony Tzes


#Research Engineer

Member of Prof. Anthony Tzes' lab in New York University Abu Dhabi.

August 2017 - August 2018

#Research visit

Invited to KTH Royal Institute of Technology by Prof. Dimos Dimarogonas.

21 January - 18 February 2017

#Undergaduate Researcher

Member of the University of Patras' team for the European Union's AEROWORKS project. Work has been accepted in the 1st deliverable.

October - December 2016


#President's PhD Scholarship

Awarded from Imperial College London in 2018.


#Programming Languages

C, C++, Python, MATLAB/Octave, POSIX Shell, Bash

#Software Development

ROS, OpenCV, SDL, Git, CMake

#Technical Writing

Articles, reports, presentations, posters


Video editing, HTML/CSS, Linux system administration


Code Research Other
GitHub Google Scholar Linkedin
GitLab Papers


Greek Native
English Certificate of proficiency in English, University of Michigan, 2008
French Diplôme d’études en langue française (DELF B2), 2009


  1. M. Popović, F. Thomas, S. Papatheodorou, N. Funk, T. Vidal-Calleja, S. Leutenegger, Efficient Volumetric Mapping Using Depth Completion With Uncertainty for Robotic Navigation, arXiv, 2020 [Submitted to RA-L]
  2. Y. Wang, N. Funk, M. Ramezani, S. Papatheodorou, M. Popović, M. Camurri, S. Leutenegger and M. Fallon, Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks, arXiv, 2020 [Submitted to RA-L/ICRA 2021]
  3. N. Funk, J. Tarrio, S. Papatheodorou, M. Popović, P. F. Alcantarilla and S. Leutenegger, Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning, arXiv, 2020 [Submitted to RA-L/ICRA 2021]
  4. S. Papatheodorou, A. Tzes, K. Giannousakis and Y. Stergiopoulos, Distributed area coverage control with imprecise robot localization: Simulation and experimental studies, International Journal of Advanced Robotic Systems, Volume 15, Issue 5, September 2018, SAGE
  5. M. Tzes, S. Papatheodorou and A. Tzes, Visual Area Coverage by Heterogeneous Aerial Agents under Imprecise Localization, IEEE Control Systems Letters (L-CSS), Volume 2, Issue 4, October 2018, Pages 623-628, IEEE
  6. S. Papatheodorou, A. Tzes and Y. Stergiopoulos, Collaborative Visual Area Coverage, Robotics and Autonomous Systems, Volume 92, June 2017, Pages 126-138, Elsevier


  1. A. Tsoukalas, A. Tzes, S. Papatheodorou and F. Khorrami, UAV-deployment for city-wide area coverage and computation of optimal response trajectories, In Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS), 2020, Athens, Greece
  2. A. Dai, S. Papatheodorou, N. Funk, D. Tzoumanikas and S. Leutenegger, Fast Frontier-based Information-driven Autonomous Exploration with an MAV, In Proceedings of the International Conference on Robotics and Automation (ICRA), 2020, Paris, France
  3. N. Bousias, S. Papatheodorou, M. Tzes and A. Tzes, Collaborative visual area coverage using aerial agents equipped with PTZ-cameras under localization uncertainty, In Proceedings of the 2019 European Control Conference (ECC), Pages 1079-1084, 25-28 June 2019, Naples, Italy
  4. M. Tzes, S. Papatheodorou and A. Tzes, Collaborative Visual Area Coverage by Aerial Agents under Positioning Uncertainty, In Proceedings of the 26th Mediterranean Conference on Control and Automation (MED), Pages 149-154, 19-22 June 2018, Zadar, Croatia
  5. S. Papatheodorou, M. Smyrnakis, T. Hamidou and A. Tzes, Path planning task assignment of mobile robots for data retrieval from wireless sensor nodes relying on game-theoretic learning, In Proceedings of the 5th International Conference on Control, Decision and Information Technologies (CoDIT), Pages 1073-1078, 10-13 April 2018, Thessaloniki, Greece
  6. S. Papatheodorou and A. Tzes, Cooperative Visual Convex Area Coverage using a Tessellation-free strategy, In Proceedings of the 56th IEEE Conference on Decision and Control (CDC), Pages 4662-4667, 12-15 December 2017, Melbourne, Australia
  7. S. Papatheodorou, A. Tzes and K. Giannousakis, Experimental Studies on Distributed Control for Area Coverage using Mobile Robots, In Proceedings of the 25th Mediterranean Conference on Control and Automation (MED), Pages 690-695, 3-6 July 2017, Valletta, Malta
  8. S. Papatheodorou, Y. Stergiopoulos and A. Tzes, Distributed Area Coverage Control with Imprecise Robot Localization, In Proceedings of the 24th Mediterranean Conference on Control and Automation (MED), Pages 214-219, 21-24 June 2016, Athens, Greece


  1. S. Papatheodorou and A. Tzes, Theoretical and Experimental Collaborative Area Coverage Schemes Using Mobile Agents, Applications of Mobile Robots, Chapter 3, Pages 43-65, InTechOpen Publishing