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Researcher profile

Panayiotis Kolios

Panayiotis Kolios contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
eess.SPArtificial IntelligenceRoboticsComputer Visioneess.IVmath.OC

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Published work

7 published item(s)

preprint2026arXiv

A Topology-Aware Spatiotemporal Handover Framework for Continuous Multi-UAV Tracking

The integration of Unmanned Aerial Vehicles(UAVs) into Intelligent Transportation Systems (ITS) offers synoptic visibility for traffic monitoring, yet scalable deployment is hindered by trajectory fragmentation, where vehicle identity persistence is lost across multi-UAV Fields of View (FOV). While state-of-the-art frameworks excel in optimizing local trajectory extraction and stability for single-drone imagery, they often function as isolated data silos that generate disjointed trajectories, thereby precluding network-level analysis such as Origin-Destination estimation. This paper presents a real-time Multi-Camera Multi-Vehicle Tracking (MCMT) system designed to handle global identity persistence. Addressing the visual ambiguity and computational cost of appearance-based Re-Identification (Re-ID) in nadir views, we introduce a lightweight Topology-Based Spatiotemporal Handover mechanism. We implement a high-throughput parallel pipeline leveraging YOLO11 and ByteTrack to process concurrent 4K streams. Our core contribution is a deterministic queue-based matching algorithm that utilizes geometric overlaps and virtual lane discretization to predictively manage identity handover via FIFO queues. Experimental results on complex urban environments, including intersections and merging traffic, demonstrate a Handover Success Rate (HOSR) of 99.8% in continuous traffic flows, significantly outperforming Re-ID baselines (74.1%) while validating edge deployment feasibility. The source code is available at https://github.com/JYe9/multi-camera-multi-vehicle-tracking-system.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Adaptive Frequency Band Selection for Accurate and Fast Positioning utilizing SOPs

Signals of opportunity (SOPs) are a promising technique that can be used for relative positioning in areas where global navigation satellite system (GNSS) information is unreliable or unavailable. This technique processes features of the various signals transmitted over a broad wireless spectrum to enable a receiver to position itself in space. This work examines the frequency selection problem in order to achieve fast and accurate positioning using only the received signal strength (RSS) of the surrounding signals. Starting with a prior belief, the problem of searching for a frequency band that best matches a predicted location trajectory is investigated. To maximize the accuracy of the position estimate, a ranking-and-selection problem is mathematically formulated. A knowledge-gradient (KG) algorithm from optimal learning theory is proposed that uses correlations in the Bayesian prior beliefs of the frequency band values to dramatically reduce the algorithm's processing time. The technique is experimentally tested for a practical scenario of an unmanned aerial vehicle (UAV) moving around a GPS-denied environment, with obtained results demonstrating its validity and practical applicability.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

An Autonomous Drone System with Jamming and Relative Positioning Capabilities

As the number of unauthorized operations of Unmanned Aerial Vehicles (UAVs) is rising, the implementation of a versatile counter-drone system is becoming a necessity. In this work, we develop a drone-based counter-drone system, that employs algorithms for detecting and tracking a rogue drone, in conjunction with wireless interception capabilities to jointly jam the rogue drone while achieving self positioning for the pursuer drone. In the proposed system a software-defined-radio (SDR) is used for switching between jamming transmissions and spectrum sweeping functionalities to achieve the desired GPS disruption and self-localization, respectively. Extensive field experiments demonstrate the effectiveness of the proposed solution in a realworld environment under various parameter settings.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Extending the Multiple Traveling Salesman Problem for Scheduling a Fleet of Drones Performing Monitoring Missions

In this paper we schedule the travel path of a set of drones across a graph where the nodes need to be visited multiple times at pre-defined points in time. This is an extension of the well-known multiple traveling salesman problem. The proposed formulation can be applied in several domains such as the monitoring of traffic flows in a transportation network, or the monitoring of remote locations to assist search and rescue missions. Aiming to find the optimal schedule, the problem is formulated as an Integer Linear Program (ILP). Given that the problem is highly combinatorial, the optimal solution scales only for small sized problems. Thus, a greedy algorithm is also proposed that uses a one-step look ahead heuristic search mechanism. In a detailed evaluation, it is observed that the greedy algorithm has near-optimal performance as it is on average at 92.06% of the optimal, while it can potentially scale up to settings with hundreds of drones and locations.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Extracting the fundamental diagram from aerial footage

Efficient traffic monitoring is playing a fundamental role in successfully tackling congestion in transportation networks. Congestion is strongly correlated with two measurable characteristics, the demand and the network density that impact the overall system behavior. At large, this system behavior is characterized through the fundamental diagram of a road segment, a region or the network. In this paper we devise an innovative way to obtain the fundamental diagram through aerial footage obtained from drone platforms. The derived methodology consists of 3 phases: vehicle detection, vehicle tracking and traffic state estimation. We elaborate on the algorithms developed for each of the 3 phases and demonstrate the applicability of the results in a real-world setting.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Optimized tour planning for drone-based urban traffic monitoring

Drones or Unmanned Aerial Vehicles (UAVs) have become a reliable and efficient tool for road traffic monitoring. Compared to loop detectors and bluetooth receivers (with high capital and operational expenditure), drones are a low-cost alternative that offers great flexibility and high quality data. In this work, we derive optimized tour plans that a fleet of drones can follow for rapid traffic monitoring across particular regions of transportation network. To derive these tours, we first identify monitoring locations over which drones should fly through and then compute minimum travel-time tours based on realistic resource constraints. Evaluation results are presented over a real road network topology to demonstrate the applicability of the proposed approach.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Relative Positioning of Autonomous Systems using Signals of Opportunity

For reliable operation, next generation autonomous agents will need enhanced situational perception as well as precise navigation capabilities. The global navigation satellite system (GNSS) signals that are utilized by practically all modern positioning systems cannot satisfy this requirement for heighten autonomy levels and positioning is becoming a decisive factor for their proliferation. This work investigates how relative positioning can be achieved using signals that are already accessible in the environment, and derives an online procedure for the exploitation of these signals for localization in GNSS-challenged areas. The proposed relative positioning system (RPS) explores the signal properties over a large spectrum of frequency bands, and derives a vehicle tracking algorithm to accurately estimate the vehicle's trajectory in space and time using an arbitrary set of unknown reference positions. Experimental results demonstrate the applicability of RPS and investigate its performance over the different parameter values.

0 citations0 reviewsNo code linkedOpen access