Robotic Intelligence LabUniversity of Cambridge

Publications

Papers from the lab will be listed here from 2027. Below is my earlier work with collaborators. See also Google Scholar.

  1. [1]I. Mandralis, R. Nemovi, A. Ramezani, R. M. Murray, and M. Gharib, “ATMO: An aerially transforming morphobot for dynamic ground–aerial transition,” Communications Engineering, 2025, doi: 10.1038/s44172-025-00413-6. Paper Code
  2. [2]V. Gherold, I. Mandralis, E. Sihite, A. Salagame, A. Ramezani, and M. Gharib, “Self-supervised cost of transport estimation for multimodal path planning,” IEEE Robotics and Automation Letters, vol. 10, no. 7, pp. 6872–6879, 2025. Paper
  3. [3]A. A. Stefan-Zavala, I. Scherl, I. Mandralis, S. L. Brunton, and M. Gharib, “Data-driven modelling for on-demand flow prescription in fan-array wind tunnels,” Flow, 2025, doi: 10.1017/flo.2025.10034. Paper
  4. [4]I. Mandralis, R. M. Murray, and M. Gharib, “Quadrotor morpho-transition: Learning vs model-based control strategies,” in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), Hangzhou, China, 2025. Paper arXiv
  5. [5]I. Mandralis, S. Schumacher, and M. Gharib, “Wake vectoring for efficient morphing flight,” arXiv:2512.05211, 2025. Under review. arXiv Code
  6. [6]A. Salagame, S. Pandya, I. Mandralis, E. Sihite, A. Ramezani, and M. Gharib, “NMPC-based unified posture manipulation and thrust vectoring for fault recovery,” arXiv:2503.18307, 2025. Under review. arXiv
  7. [7]A. Rosakis, I. Mandralis, and M. Gharib, “Ultrasound shape sensing,” U.S. Patent Application US 2025/0315966 A1, 2025. Patent
  8. [8]I. Mandralis, “Leveraging aerial transformation for enhanced air–ground robotic mobility,” Ph.D. dissertation, California Institute of Technology, Pasadena, CA, USA, 2025.
  9. [9]B. Gupta, A. Dhole, A. Salagame, X. Niu, Y. Xu, K. Venkatesh, P. Ghanem, I. Mandralis, E. Sihite, and A. Ramezani, “Bounding flight control of dynamic morphing wings,” in Proc. IEEE Int. Conf. Advanced Intelligent Mechatronics (AIM), Boston, MA, USA, 2024. Paper
  10. [10]A. Salagame, N. Bhattachan, A. Caetano, I. McCarthy, H. Noyes, B. Petersen, A. Qiu, M. Schroeter, N. Smithwick, K. Sroka, J. Widjaja, Y. Bohra, K. Venkatesh, K. Gangaraju, P. Ghanem, I. Mandralis, E. Sihite, A. Kalantari, and A. Ramezani, “How strong a kick should be to topple Northeastern’s tumbling robot?” in Proc. IEEE Int. Conf. Advanced Intelligent Mechatronics (AIM), Boston, MA, USA, 2024. Paper
  11. [11]E. Sihite, F. Slezak, I. Mandralis, A. Salagame, M. Ramezani, A. Kalantari, A. Ramezani, and M. Gharib, “Demonstrating autonomous 3D path planning on a novel scalable UGV–UAV morphing robot,” in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), Detroit, MI, USA, 2023. Paper
  12. [12]A. Dhole, B. Gupta, A. Salagame, X. Niu, Y. Xu, K. Venkatesh, P. Ghanem, I. Mandralis, E. Sihite, and A. Ramezani, “Hovering control of flapping wings in tandem with multi-rotors,” in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), Detroit, MI, USA, 2023. Paper
  13. [13]I. Mandralis, E. Sihite, A. Ramezani, and M. Gharib, “Minimum time trajectory generation for bounding flight: Combining posture control and thrust vectoring,” in Proc. European Control Conf. (ECC), Bucharest, Romania, 2023. Paper
  14. [14]P. Gunnarson, I. Mandralis, G. Novati, P. Koumoutsakos, and J. O. Dabiri, “Learning efficient navigation in vortical flow fields,” Nature Communications, vol. 12, Art. no. 7143, 2021, doi: 10.1038/s41467-021-27015-y. Paper
  15. [15]I. Mandralis, P. Weber, G. Novati, and P. Koumoutsakos, “Learning swimming escape patterns for larval fish under energy constraints,” Physical Review Fluids, vol. 6, Art. no. 093101, 2021, doi: 10.1103/PhysRevFluids.6.093101. Paper