Autonomous Robots Research

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Robotics Seminars

Türkçe Robot Sitesi

Courses

• CMPE 565 Autonomous Robots
• CMPE 49A Introduction to Robotics
  

Projects:

•  RoadRunner  - The Intelligent Mobile Robot
• Autonomous Vacuum Cleaner Robot
• Investigation of Cooperational Behavior Among Small Mobile Robots
• A Robust Cognitive Architecture for Small Robots
• Roboscene: Open Source Mobile Robot Simulation Environment Project

Teams

• BI-NA: Binational Project for developing Soccer Robot
• Robot Idman Yurdu: Mirosot 5 on 5 Turkish Team
• RoboAkut: Robocup Rescue Simulation Turkish Team
• Cerberus: Sony Legged League Turkish Team

Students:

PhD Students:

• Baris Eker
• Cetin Mericli
• Tekin Mericli
  

M.Sc Students

• Aziz Asil
• Baris Kurt
• Baris Gokce
• Ergin Ozkucur
• Can Kavaklioglu
• Serhan Danis
• Omer Farukhan Gunes
  

Undergraduate Students

• Former Students
  

Publications:

• MERICLI, T.,  and H. L. Akin, "Soccer Without Intelligence," IEEE ROBIO 2008, December 14-17, 2008, Bangkok, Thailand. (Submitted).

• EKER, B. and H. L. Akin, "Solving DEC-POMDP Problems Using Evolution Strategies," Soft Computing. (Submitted).

• MERICLI, T., Ç. Meriçli, and H. L. Akin, "A Robust Statistical Collision Detection Framework for Quadruped Robots," RoboCup International Symposium 2008, Suzhou, China, July 15-18, 2008. (Accepted).

• KURT, B., E. Ozkucur and H. L. Akin, "A Collaborative Multi-Robot Localization Method Without Robot Identification," RoboCup International Symposium 2008, Suzhou, China, July 15-18, 2008. (Accepted)

• MERICLI, C. and H. L. Akin, "A Layered Metric Definition and Validation Framework for Multirobot Systems," RoboCup International Symposium 2008, Suzhou, China, July 15-18, 2008. (Accepted)
  

• KOSE, H. and H. L. Akin, "A Collaborative Multi-robot Localization Method for a Team of Autonomous Mobile Robots", ICAR 2007,13th International Conference on Advanced Robotics, Jeju, Korea, August 21-24, 2007, pp.641-646, 2007.

• KOSE, H. and H. L. Akin, "The Reverse Monte Carlo Localization Algorithm," Robotics and Autonomous Systems, Vol. 55, No. 6, pp. 480-489, 2007.

• SARDAG, A. and H. L. Akin, “Kalman Based Finite State Controller for Partially Observable Domains”, International Journal of Advanced Robotic Systems, Vol. 3, No. 4, pp.331-342, 2006.
  

• KOSE, H., , B. Celik and H. L. Akin,, "Comparison of Localization Methods for a Robot Soccer Team", International Journal of Advanced Robotic Systems,  Vol. 3, No. 4, pp.295-302, 2006.

• TATLIDEDE, M. U. and H. L. Akin, "Planning for Bidding in Single Item Auctions," First International Workshop on, Agent Technology for Disaster Management (ATDM), 8th May 2006, Hakodate, Japan, pp.85-90.
  

• ULUSAR, U. D.  and H. L. Akin, "Design and Implementation of a Real Time Planning System for Autonomous Robots," 2006 IEEE International Symposium on Industrial Electronics, ISIE'2006 - Montréal (Canada) - July 9-13, 2006, Vol. 1, pp.74-79.

• SARDAG, A. and H. L. Akin, "Kalman Based Temporal Difference Neural Network for Policy Generation under Uncertainty (KBTDNN)," In Cognitive Robotics: Papers from the AAAI Workshop, ed. M. Beetz, K. Rajan, M. Thielscher, and R. B. Rusu, . Technical Report WS-06-03. American Association for Artificial Intelligence, Menlo Park, California, pp.135-140, 2006.

• KOSE, H and H. L. Akin, "A fuzzy touch to R-MCL localization algorithm", RoboCup 2005: Robot Soccer World Cup IX, A. Bredenfeld, A. Jacoff, I. Noda, Y. Takahashi  (Eds.), LNCS Vol. 4020, pp. 420 - 427, 2006.

• KAPLAN, K., B. Celik, T.  Mericli, C. Mericli, and H. L. Akin,"Practical Extensions to Vision-Based Monte Carlo Localization Methods for Robot Soccer Domain", RoboCup 2005: Robot Soccer World Cup IX, A. Bredenfeld, A. Jacoff, I. Noda, Y. Takahashi  (Eds.), LNCS Vol. 4020, pp. 420 - 427, 2006.

• KOSE, H., K. Kaplan, C. Mericli, U. Tatlidede, and L. Akin, "Market-Driven Multi-Agent Collaboration in Robot Soccer Domain", in V. Kordic, A. Lazinica and M. Merdan (Eds.), Cutting Edge Robotics, pp.407-416,  pIV pro literatur Verlag, 2005.

• SARDAG, A., and H. L. Akin, "ARKAQ-Learning : Autonomous State Space Segmentation and Policy Generation," P. Yolum et al. (Eds): ISCIS 2005, 20th International Symposium, Istanbul, Turkey, LNCS 3733, pp.512-523, 2005.

• AKIN, H. L., "Managing an Autonomous Robot Team: The Cerberus Team Case Study," International Journal of Human-friendly Welfare Robotic Systems, Vol. 6, No. 2, pp-35-40, 2005.

• LIMA, P., L. Custódio, L. Akin, A. Jacoff, G. Kraezschmar, B. K. Ng, O. Obst, T. Röfer, Y. Takahashi, C. Zhou, "RoboCup 2004 Competitions and Symposium: A Small Kick for Robots, a Giant Score for Science," AI Magazine, Vol. 26, No. 2, pp.36-61, 2005.
   
  
• TATLIDEDE, U., K. Kaplan, H. Kose, and H. L. Akın, "Reinforcement Learning for Multi-Agent Coordination in Robot Soccer Domain," AAMAS'05, Fifth European Workshop on Adaptive Agents and Multi-Agent Systems, Paris, March 21-22 2005. (Accepted)

• SARIEL, S., and H. L. Akin, “A Novel Search Strategy for Autonomous Search and Rescue Robots,” RoboCup 2004: Robot Soccer World Cup VIII, Daniele Nardi, Martin Riedmiller, Claude Sammut, et al.  (Eds.), LNCS, Vol. 3276, pp.459-466, 2005.

• MERICLI, C., H. L. Akin, and I. O. Tufanogullari, “World Modeling in Disaster Environments with Constructive Self-Organizing Maps for Autonomous Search,” RoboCup 2004: Robot Soccer World Cup VIII, Daniele Nardi, Martin Riedmiller, Claude Sammut, et al.  (Eds.), LNCS, Vol. 3276, pp.594-601, 2005.

• KOSE, H and H. L. Akin, , “Robots From Nowhere,” RoboCup 2004: Robot Soccer World Cup VIII, Daniele Nardi, Martin Riedmiller, Claude Sammut, et al.  (Eds.), LNCS, Vol. 3276, pp.594-601, 2005.

• KOSE, H and H. L. Akin, "Experimental Analysis and Comparison of Reverse-Monte Carlo Self-Localization Method", CLAWAR/EURON Workshop on Robots in Entertainment, Leisure and Hobby, December 2 – 4, 2004, Vienna, Austria, pp, 85-90.

• SARIEL, S., ve H. L. Akin, “Özerk Robotlar için Bir Genis Alan Taramasi; Planlama Yöntemi ", Havacilikta Ileri Teknolojiler Ve Uygulamalari Sempozyumu, (HITEK 2004), 9-10 Aralik 2004., pp. 491-495.

• KARADENIZ. M. T., H. L. Akin, "FDMS with Q-Learning: A Neuro-Fuzzy Approach To Partially Observable Markov Decision Problems, " International Journal of Advanced Robotic Systems, Vol.1., No4., pp.251-262, December 2004.

• YILDIZ, O. T,  L. Akarun and H. L. Akin, "Fast nearest neighbour testing algorithm for small feature sizes", Electronics Letters,Vol 40, No 3, pp. 171-172, February 2004.

• Tatlidede, C. Mericli, K. Kaplan and H. L. Akin, "Q-Learning based Market-Driven Multi-Agent Collaboration in Robot Soccer," Proceedings, TAINN 2004, Turkish Symposium On Artificial Intelligence and Neural Networks, June 10-11, 2004, Izmir, Turkey, pp.219-228.

• ULUSAR, U. D., and H. L. Akin,"Design and Implementation of a Real Time Planner for Autonomous Robots," Proceedings, TAINN 2004, Turkish Symposium On Artificial Intelligence and Neural Networks, June 10-11, 2004, Izmir, Turkey, pp.263-270.

• KOSE, H., Ç. Meriçli, K.  Kaplan and H. Levent Akin, "All Bids for One and One Does for All: Market-Driven Multi-Agent Collaboration in Robot Soccer Domain", Computer and Information Sciences-ISCIS 2003, 18th International Sympsium Antalya, Turkey, November 2003 Proceedings, LNCS 2869, pp. 529-536.

• KOSE, H., K. Kaplan, C. Mericli and H. L. Akin, "Genetic Algorithms Based Market-Driven Multi-Agent Collaboration in the Robot-Soccer Domain", FIRA Robot World Congress 2003, October 1 - 3, 2003, Vienna, Austria.

• TALAYSUM, B. and H. L. Akin, "RoboAkut: A multi-agent rescue team, ICAR 2003, Proceedings of 11th International Conference on Advanced Robotics, June 30 - July 3, 2003, University of Coimbra, Portugal, pp.118-1123.

• KARADENIZ, M. T. and  H. L. Akin, "A Neuro-Fuzzy Approach To Partially Observable Markov Decision Problems," IFSA 2003, June 29-July2, 2003, Istanbul, Turkey, pp.492-495.

• KAPLAN, K. and H. L. Akin, "A Controller Design for Soccer Robot Teams", IJCI Proceedings of International XII Turkish Symposium on Artificial Intelligence and Neural Networks TAINN 2003 ISSN 1304-2386 Vol:1, No:1 July 2003.

• KOSE, H. , S. Bayhan and H. L. Akin, "A Fuzzy Approach to Global Localization in the Robot Soccer Domain", IJCI Proceedings of International XII Turkish Symposium on Artificial Intelligence and Neural Networks TAINN 2003 ISSN 1304-2386 Vol:1, No:1 pp.1-7, July 2003.

• AKIN, H. L., P Pavlova, and O. T. Yildiz, "Cerberus 2002," Robocup 2002: Robot Soccer World Cup VI, The 2002 International Robocup Symposium Pre-Proceedings, June 24-25, 2002, Fukuoka, pp.448.

• TALAYSUM, B. and H. L. Akin, "RoboAkut Rescue Team," Robocup 2002: Robot Soccer World Cup VI, The 2002 International Robocup Symposium Pre-Proceedings, June 24-25, 2002, Fukuoka, pp.467.

• TALAYSUM, B. and H. L. Akin, "RoboAKut: Çoklu Etmen Arama Kurtarma Ekibi (RoboAkut: A multi-agent rescue team)," Bilisim'02, September 3-6, 2002,pp.51-55. (in Turkish)

• MOSHAIOV, O. Kaynak, Y. Reich, S. Bar El, A. Klunover, and L. Akin, "Evaluating Groupwork in Tele-Collaboration - Application to Socio-mechatronics ", Information Technology Based Higher Education and Training, ITHET 2002, July 4-6, 2002, Budapest, Hungary.

• SHAKEV, N., J. Tombakov, I. Kalvatchev, L. Akin, A. Topalov, P. Pavlova, "Control System Architecture for Autonomous Quadruped Robot" 5th International Conference on Climbing and Walking Robots And the Support Technologies for Mobile Machines, CLAWAR 2002, 25-27 September 2002 Paris, France, pp.867-874.

• KÖSE, H. and H. L. Akin, "SALOME:  Context Dependent Blending BaSed Controller for FootbAll PLaying AutOnomous MobilE Robots",  2002 FIRA Robot World Congress, pp.620-625.

• SANTEMIZ, L., I. A. Sahin, B. Turhan and H. L. Akin, "Aibo Robotu Üzerinde Hizli Hareket Tiplerinin Gelistirilmesi (Development of Fast Gaits for AIBO Robot), TOK 2002. (In Turkish)

• KÖSE, H. and H. L. Akin, "ORCO: Bayesian Multinet Inference based Object Recognition in Robot Football Using a One-Dimensional Image," ISCIS XVI, Sixteenth International On Computer And Information Sciences, November 5-7, 2001, Antalya, Turkey, pp.193-200.

• SHAKEV, N. G.,  A. V. Topalov, O. Kaynak and L. Akin, "Reactive-behavior Learning of Quadruped Robots Playing Soccer", 1st International Conference on Information Technology in Mechatronics: ITM'01, October 1-3, 2001, Istanbul, Turkey, pp149-154.

• AKIN, H.L., A. Topalov, and O.  Kaynak, "Cerberus 2001 Team Description", Robocup 2001: Robot Soccer World Cup V,RoboCup 2001: Robot Soccer World Cup V, Birk, A., Coradeschi, S., and Tadokoro, S. (Eds.), pp.689-692, Springer Verlag.

• KÖSE, H. and H. L. Akin, "Object Recognition in Robot Fotball Using a One-Dimensional Image", The Tenth Turkish Symposium on Artificial Intelligence and Neural Networks (TAINN 2001), pp.291-300, 2001.

• KÖSE, H. and H. L. Akin, "Towards a Robust Cognitive Architecture for Small Autonomous Mobile Robots", ISCIS XV, The Fifteenth International Symposium on Computer and Information Sciences, October, 11-13, 2000,  ISTANBUL, TURKEY, pp.447-455, 2000.

• KOPRULU, S. D., and H. L. Akin, "A Combining Approach to Path Planning of Mobile Vehicles," The Seventh Turkish Symposium on Artificial Intelligence and Neural Networks (TAINN'98), pp.146-155, 1998

• ALBUZ, E., E. Kocalar, H. L. Akin and O. Kaynak, "Zeki Denetim Uygulamalarinda Kullanilmak Üzere Hareketli Robot Gelistirilmesi," TOK' 97,      Endüstriyel Otomasyon Teknolojileri Sempozyumu Bildiriler Kitabi, Istanbul 20-21 February 1997, pp.75-84, (In Turkish), 1997.

• ERTUGRUL, M., O. Kaynak and H. L. Akin, "Mayin Tarama Robotu," Savunma Sanayindeki Son Gelismeler Sempozyumu, 1997. (In Turkish).

Ph.D. Theses Supervised:

2008

• B. Eker, Multiagent Decision Making in Dynamic Environments (In Progress)

2006

• H. Köse-Bagci, A Collaborative Multi-agent Localization Technique for Autonomous Mobile Robots.
• A. Sardag, Autonomous Strategy Planning Under Uncertainty.

2004

• M. T. Karadeniz,  A Neuro-Fuzzy Approach to Partially Observable Robot Navigation Problems

M. Sc. Theses Supervised:

2008

• O. F. Gunes, Implementation of a Mobile Tour-Guide Robot (In Progress)
• S. Danis,  Development of a Multi-Sensored Autonomous Ground Vehicle (In Progress)
• C. Kavaklioglu,  Formalising Robotics (In Progress)
• B. Gokce,  Implementation of Biped Walking Algorithm on Simulator and Humanoid Robot (In Progress)
• E. Ozkucur, Design and Implementation of Multi-agent Visual-SLAM Algorithms on Autonomus Robots (In Progress)
• B. Kurt,  Developmental Learning Through Social Interaction and Imitation in Autonomous Robots (In Progress)
• T. Mericli,   Braitenberg Soccer: Learning How to Play Soccer with Primitive Behaviors
  
• A. Asil, Development of Reinforcement Learning Based Neural Network Algorithms to Generate Dynamically Stable Gaits for Humanoid Robots (In Progress)
• D. Sezen, Implementation of Continuous POMDP Algorithms on Autonomous Robots

2007

• F. Geleri, Comparison of Path Planning Algorithms 

2006

• S. B. Özkan, Design and Simulation of Multi-agent Autonomous Robot Systems for Industrial Facilities
• S. Sarı, Design and Implementation of an Autonomous Tour Guide Robot
  

2005

• B. Celik, S-Loc and My Environment: A New Localization System for Autonomous Robots 
• Ç. Meriçli, Developing a Robust Multi-agent Task Allocation Algorithm for Four-legged Robotic Soccer Domain.

2004

• Ü.D. Ulusar, Design And Implementation Of Real Time Planning Algoritms For Autonomous Robots.
  

2003

• M. U. Tatlidede, Learning Multi-Agent Behavior through Reinforcement Learning
• L. Santemiz, Development of Fast Gaits for AIBO Robot
• K. Kaplan, Design and Implementation of Fast Controllers for Mobile Robots
• B. Talaysüm, Design and Implementation of a Simulated Autonomous Rescue Teams.
  
  

2000

•  L. Tolun, Development Of Area Coverage Algorithms For An Autonomous Vacuum Cleaner Robot.
•  H. Köse, Towards a Robust Cognitive Architecture for Small Robots
•  N. Kurtuldu, Development of a Fuzzy Controller for a Robot Arm Using Evolutionary Algorithms

1998

• S. D. Köprülü,  An Object Oriented Framework for Intelligent Control of an Automated  Guided Vehicle.
• T. Karadeniz,  Planning and Acting In Stochastic Domains for Mobile Robot Control.
• A. Sardag, Design Of An Autonomous Vacuum Cleaner Robot.