A. Mastrogeorgiou

Senior Robotics Researcher · HERON

Athanasios
Mastrogeorgiou

Robotics researcher working on perception, motion planning and control for legged and field robots, from high-fidelity simulation to real-world deployment in agriculture, inspection and industry.

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Portrait of Athanasios Mastrogeorgiou

01Now

Current role
Senior Robotics Researcher
HERON – Hellenic Robotics Center of Excellence · since Nov 2025
Research
Ph.D. Candidate, NTUA
Control Systems Lab · perception and motion planning for legged robots
Recognition
2 best-paper finalists & 1 prize
IROS 2024 · AIM 2023 · CLAWAR 2020
Publications
18 journal & conference papers
Plus refereed abstracts, theses and invited talks

02Selected work

2023–2026Navigation & inspection

Autonomous navigation, inspection and UAV swarms

A speed-adaptive local ESDF map for GPS-free real-time replanning, collision-free UAV swarm coverage for disaster response, the ENORASI robot for extra-high-voltage substations, and in-pipe visual-inertial odometry that sprays its own fluorescent landmarks.

IEEE Access 2026Robotics 2025MED 2025ISGT Europe 2025
2025Industrial AI

WEEE battery sorting and automotive quality control

Dual-energy X-ray imaging with YOLO and U-Net to flag battery-containing e-waste for a Delta robot picking from a moving conveyor, and a two-cobot cell detecting surface and thread defects on die-cast automotive parts in real time.

WEEE sorting · AIM 2025Automotive QC · AIM 2025
2024Agricultural robotics

Vinymap: vineyard inspection and 3D reconstruction

Autonomous navigation, high-fidelity 3D reconstruction and canopy growth assessment with three stereo cameras; multi-camera visual SLAM with AprilTag loop closure that stays robust when one camera’s view is largely blocked.

Best Agri-Robotics Paper Finalist · IROS 2024
PaperDOIRelated: MED 2024
2022–2024Robotic harvesting

Robotic mushroom harvesting for existing farms

A low-cost gantry robot for existing farm shelves: 360° RGB-D scanning, YOLOv5 detection, model-fitting pose estimation and visual servoing to align the gripper with each mushroom. Part of the EU-funded SoftGrip project.

Best Paper Finalist · AIM 2023
PaperDOIICRA 2022 workshop posterSoftGrip · ERF 2024
2020–2025Legged locomotion

Laelaps II: deep RL for quadruped locomotion

Trotting controllers for the Laelaps II quadruped combining deep reinforcement learning with toe trajectory planning, tested in Gazebo on slopes up to 15°. A companion study compared DDPG, PPO and SAC; later work added a Cost of Transport reward for energy-efficient trotting in MuJoCo.

Second Prize · CLAWAR 2020
IROS 2020VideoCLAWAR 2020VideoCLAWAR 2022
2019–2025Gait analysis

Markerless gait analysis with computer vision

Low-cost alternatives to marker-based motion capture: OpenPose limb measurement, multi-camera 3D human mesh reconstruction with simulation-guided camera placement, and a minimal 2D human model estimating joint angles, torques and ground reaction forces.

BIBE 2025Humanoids 2024ICIPCW 2023ECCOMAS 2019

More projects

03Experience

Nov 2025 – PresentFreelance

Senior Robotics Researcher · HERON – Hellenic Robotics Center of Excellence

Perception and motion planning for legged robots.

2014 – PresentAthens

Researcher · Legged Robots Team, NTUA

Projects ARGOS (quadruped for precision agriculture), INTELLICONT, DAAD, THALES and HEXATERRA.

Jan 2024 – Dec 2025Part-time · Remote

Senior Robotics Engineer · RobotiCo

Led technical teams and mentored junior engineers, specializing in robotics software, AI/ML integration and simulation environments.

Jan 2021 – Dec 2025Athens

Delivery Manager · Tech Hive Labs

Full project lifecycle delivery of robotics and AI-driven solutions, from soft harvesting grippers and multi-drone energy inspection to X-ray battery detection and pipeline inspection robots.

SOFTGRIPAUTOPSYODININSIGHTPARSECGRINNERTUBERSPALPABLESoliDAIR
Dec 2019 – Feb 2021Nicosia

Robotics Software Engineer · CiTARD Services

ENDORSE: indoor robotic fleets for logistics in healthcare and commercial spaces.

May 2018 – Dec 2019Athens

Robotics Software Engineer · IKNOWHOW

04Recognition

Awards

Invited talks & seminars

Media

05Publications

Selected

  1. Artificial Feature Generation and Optimal IMU Placement for VIO in Pipeline Inspection RobotsGeladaris, A., Mastrogeorgiou, A., Simatos, O., Poulakakis, I., Sfakiotakis, M., Polygerinos, P.IEEE Access, vol. 14, 2026
  2. Exploiting a Variable-Sized Map and Vicinity-Based Memory for Dynamic Real-Time Planning of Autonomous RobotsGeladaris, A., Papakostas, L., Mastrogeorgiou, A., Polygerinos, P.Robotics, vol. 14, no. 4, 2025
  3. Guidelines for Optimal Human Mesh Generation Using Deep Learning-Driven Avatar Reconstruction for Gait AnalysisStavrakakis, O., Mastrogeorgiou, A., Smyrli, A., Papadopoulos, E.IEEE-RAS Humanoids 2024
  4. Vinymap: A Vineyard Inspection and 3D Reconstruction Framework for Agricultural RobotsZarras, I., Mastrogeorgiou, A., Machairas, K., Koutsoukis, K., Papadopoulos, E.IEEE/RSJ IROS 2024 · Best Agri-Robotics Paper Finalist
  5. Low-Cost, Accurate Robotic Harvesting System for Existing Mushroom FarmsMavridis, P., Mavrikis, N., Mastrogeorgiou, A., Chatzakos, P.IEEE/ASME AIM 2023 · Best Paper Finalist
  6. Learning Energy-Efficient Trotting for Legged RobotsMastrogeorgiou, A., Papatheodorou, A., Koutsoukis, K., Papadopoulos, E.Robotics in Natural Settings, Springer LNNS vol. 530, 2022
  7. Slope Handling for Quadruped Robots Using Deep Reinforcement Learning and Toe Trajectory PlanningMastrogeorgiou, A., Elbahrawy, Y., Kecskeméthy, A., Papadopoulos, E.IEEE/RSJ IROS 2020
  8. Evaluating Deep Reinforcement Learning Algorithms for Quadrupedal Slope HandlingMastrogeorgiou, A., Elbahrawy, Y., Machairas, K., Kecskeméthy, A., Papadopoulos, E.CLAWAR 2020 · Second Prize
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Journal articles

  1. Artificial Feature Generation and Optimal IMU Placement for VIO in Pipeline Inspection RobotsGeladaris, A., Mastrogeorgiou, A., Simatos, O., Poulakakis, I., Sfakiotakis, M., Polygerinos, P.IEEE Access, vol. 14, pp. 115469–115479, 2026 · doi
  2. Exploiting a Variable-Sized Map and Vicinity-Based Memory for Dynamic Real-Time Planning of Autonomous RobotsGeladaris, A., Papakostas, L., Mastrogeorgiou, A., Polygerinos, P.Robotics, vol. 14, no. 4, art. 44, 2025 · doi
  3. Learning Energy-Efficient Trotting for Legged RobotsMastrogeorgiou, A., Papatheodorou, A., Koutsoukis, K., Papadopoulos, E.Robotics in Natural Settings, Springer LNNS vol. 530, pp. 204–215, 2022 · doi

Conference papers

  1. Low-Cost Markerless Gait Analysis Using a Minimal Human ModelTsintzira, K., Smyrli, A., Mastrogeorgiou, A., Papadopoulos, E.IEEE BIBE 2025, Athens · doi
  2. An Autonomous Inspection Robot for Extra-High Voltage SubstationsMoustris, G., Flessa, T., Mermigkas, P., Alamanos, I., Kardaris, N., Vatistas, A., Tzafestas, C., Maragos, P., Bonias, G., Skembris, A., Geladaris, A., Mastrogeorgiou, A., Rong, J., Bagiokos, P., Makrygiorgou, D., Panidis, S., Melissaris, D.IEEE PES ISGT Europe 2025, Valletta · doi
  3. A Comprehensive Framework for Automated Quality Control in the Automotive IndustryMoraiti, P., Giannikos, P., Mastrogeorgiou, A., Mavridis, P., Zhou, L., Chatzakos, P.IEEE/ASME AIM 2025, Hangzhou · doi
  4. An Integrated System for WEEE Sorting Employing X-Ray Imaging, AI-Based Object Detection and Segmentation, and Delta Robot ManipulationGiannikos, P., Papakostas, L., Katralis, E., Mavridis, P., Chryssinas, G., Inglezou, M., Panagopoulos, N., Porichis, A., Mastrogeorgiou, A., Chatzakos, P.IEEE/ASME AIM 2025, Hangzhou · doi
  5. Optimized Area Coverage in Disaster Response Utilizing Autonomous UAV Swarm FormationsPapakostas, L., Geladaris, A., Mastrogeorgiou, A., Sharples, J., Hattenberger, G., Chatzakos, P., Polygerinos, P.MED 2025, Tangier · doi
  6. Guidelines for Optimal Human Mesh Generation Using Deep Learning-Driven Avatar Reconstruction for Gait AnalysisStavrakakis, O., Mastrogeorgiou, A., Smyrli, A., Papadopoulos, E.IEEE-RAS Humanoids 2024, Nancy · doi
  7. Vinymap: A Vineyard Inspection and 3D Reconstruction Framework for Agricultural RobotsZarras, I., Mastrogeorgiou, A., Machairas, K., Koutsoukis, K., Papadopoulos, E.IEEE/RSJ IROS 2024, Abu Dhabi · Best Agri-Robotics Paper Finalist · doi
  8. Multicamera Visual SLAM for Vineyard InspectionKokas, C., Mastrogeorgiou, A., Machairas, K., Koutsoukis, K., Papadopoulos, E.MED 2024, Chania · doi
  9. SoftGrip: Towards a Soft Robotic Platform for Automatized Mushroom HarvestingPagliarani, N., Tzafestas, C., Papadopoulos, E., Maragos, P., Mastrogeorgiou, A., Porichis, A., Grogan, H., Ehrhardt, R., Cianchetti, M.European Robotics Forum 2024, Rimini · doi
  10. Gait Analysis with Trinocular Computer Vision Using Deep LearningStavrakakis, O., Mastrogeorgiou, A., Smyrli, A., Papadopoulos, E.IEEE ICIPCW 2023, Kuala Lumpur · doi
  11. Low-Cost, Accurate Robotic Harvesting System for Existing Mushroom FarmsMavridis, P., Mavrikis, N., Mastrogeorgiou, A., Chatzakos, P.IEEE/ASME AIM 2023, Seattle · Best Paper Finalist · doi
  12. Real-Time Local Map Generation and Collision-Free Trajectory Planning for Autonomous Vehicles in Dynamic EnvironmentsGeladaris, A., Papakostas, L., Mastrogeorgiou, A., Sfakiotakis, M., Polygerinos, P.ICCAIRO 2023, Ierapetra · doi
  13. Slope Handling for Quadruped Robots Using Deep Reinforcement Learning and Toe Trajectory PlanningMastrogeorgiou, A., Elbahrawy, Y., Kecskeméthy, A., Papadopoulos, E.IEEE/RSJ IROS 2020, Las Vegas (virtual) · doi
  14. Evaluating Deep Reinforcement Learning Algorithms for Quadrupedal Slope HandlingMastrogeorgiou, A., Elbahrawy, Y., Machairas, K., Kecskeméthy, A., Papadopoulos, E.CLAWAR 2020 (virtual) · Second Prize · doi
  15. Automating Loading and Locking of New Generation Air-Cargo ContainersBolanakis, G., Machairas, K., Koutsoukis, K., Mastrogeorgiou, A., Loupis, M., Papadopoulos, E.9th EASN Conference, Athens 2019, MATEC Web of Conferences vol. 304 · doi

Abstracts, posters & presentations

  1. Learning Energy Efficient Trotting for Legged RobotsMastrogeorgiou, A., Papatheodorou, A., Koutsoukis, K., Machairas, K., Papadopoulos, E.Greeks in AI 2025 Symposium, Athens · Refereed abstract
  2. Guidelines for Optimal Mesh Generation Using Deep Learning-Driven Avatar Reconstruction for Gait AnalysisStavrakakis, O., Mastrogeorgiou, A., Smyrli, A., Papadopoulos, E.Greeks in AI 2025 Symposium, Athens · Refereed abstract
  3. Mushroom Detection and Pose Estimation Using Instance Segmentation and Model FittingMavridis, P., Mastrogeorgiou, A., Chatzakos, P.ICRA 2022 Workshop on Agricultural Robotics and Automation, Philadelphia · Poster
  4. Middleware Interconnecting ROS/ROS2 with the EtherCAT ProtocolPapatheodorou, A., Mastrogeorgiou, A., Machairas, K., Koutsoukis, K., Papadopoulos, E.ROS World 2021 (virtual) · Talk
  5. EtherCAT Master for Laelaps II QuadrupedPapatheodorou, A., Mastrogeorgiou, A., Machairas, K., Koutsoukis, K., Papadopoulos, E.ROS World 2020 (virtual) · Lightning talk
  6. Application of OpenPose Deep Learning Algorithm for Gait Parameter IdentificationMastrogeorgiou, A., Smyrli, A., Papadopoulos, E., Kecskeméthy, A., Gegenbauer, S.ECCOMAS Multibody Dynamics 2019, Duisburg · Extended abstract
  7. Towards a Controller for Quadrupedal Locomotion on Compliant TerrainsMastrogeorgiou, A., Koutsoukis, K., Machairas, K.Dynamic Walking 2018, Pensacola · Talk
  8. Towards an Enhanced Controller for Slope ClimbingMastrogeorgiou, A., Papadopoulos, E.ECCOMAS Multibody Dynamics 2015, Barcelona · Abstract-refereed paper

Theses

  1. Evaluation of the Webots Robot Simulation Environment During Quadruped Robot Motions, and Comparison with Alternative SoftwareMSc thesis, NTUA, 2013 · Supervisor: E. G. Papadopoulos
  2. Learning Bipedal Locomotion Using Finite State MachinesMSc thesis, University of Edinburgh, 2009 · Supervisor: I. Havoutis
  3. Autonomous Robot Navigation Within the Microsoft Robotics Developer Studio Simulation EnvironmentBSc thesis, University of Macedonia, 2008 · Supervisor: D. Hristu-Varsakelis

06About

Athanasios (Thanasis) Mastrogeorgiou takes algorithms from high-fidelity simulation to robust field deployments in agriculture, healthcare logistics, energy infrastructure and industrial automation. He is a Ph.D. candidate in Mechatronics at the Control Systems Laboratory of NTUA, supervised by Prof. Evangelos G. Papadopoulos.

Education

Ph.D. Candidate, Robotics

National Technical University of Athens · 2016 – Present

Postgraduate Studies in Automation

National Technical University of Athens · 2011 – 2013

MSc in Artificial Intelligence

University of Edinburgh · 2008 – 2009

BSc in Applied Informatics

University of Macedonia · 2003 – 2008

Toolbox

ROS / ROS 2C++Embedded systemsEtherCATGazeboMuJoCoWebotsMSC AdamsDeep RLVisual SLAM

Beyond work

Languages

Greek (native) · English (C2) · German (B2)

Interests

Martial arts · Photography · Mountain climbing · FPV drone builds

Volunteering

Taught computer essentials at ARSIS (2017); Hellenic Post Office of Hydra, “Holidays and volunteering” program (2011).