Athanasios Kehagias

About

Athanasios Kehagias is a leading researcher in multi-robot systems, pursuit-evasion games, and robotic perception, whose work bridges theoretical graph-based algorithms with practical autonomous navigation. His most influential contribution is the 2009 paper "Efficient Multi-robot Search for a Moving Target" (158 citations), which pioneered probabilistic path-planning strategies for locating non-adversarial targets in cluttered indoor environments—a foundational approach for modern search-and-rescue robotics. He further advanced the field with "Probabilistic Strategies for Pursuit in Cluttered Environments with Multiple Robots" (40 citations) and the "GSST: anytime guaranteed search" algorithm (30 citations), which introduced anytime clearing methods for adversarial evasion scenarios. In perception, Kehagias developed novel RFID tag localization techniques using phase unwrapping and nonlinear optimization (67 citations), enabling robots to perform simultaneous localization and mapping (SLAM) with off-the-shelf equipment. His work on range-only SLAM with interpolated data (29 citations) addressed critical challenges in sonar and radio-based navigation. With over 446 total citations across his top papers, Kehagias has shaped both theoretical frameworks—such as visibility-based pursuit-evasion games—and practical multi-agent coordination systems, making him a pivotal figure in autonomous robotic search and environmental mapping.

Research Focus

Key Achievements

Top Papers

1. 1
   Efficient Multi-robot Search for a Moving Target

   158 citations · 2009
2. 2
   Localization of RFID Tags by a Moving Robot, via Phase Unwrapping and Non-Linear Optimization

   67 citations · 2019
3. 3
   Probabilistic Strategies for Pursuit in Cluttered Environments with Multiple Robots

   40 citations · 2007
4. 4
   A graph search algorithm for indoor pursuit/evasion

   34 citations · 2009
5. 5
   A hybrid neural-genetic multimodel parameter estimation algorithm

   32 citations · 1998
6. 6
   GSST: anytime guaranteed search

   30 citations · 2010
7. 7
   Range-only SLAM with Interpolated Range Data

   29 citations · 2018
8. 8
   Improving the Efficiency of Clearing with Multi-agent Teams

   27 citations · 2010
9. 9
   The Role of Visibility in Pursuit/Evasion Games

   15 citations · 2014
10. 10
    Efficient, guaranteed search with multi-agent teams

    14 citations · 2009

Key Collaborators

Contact & Links