Autonomous Robots Research

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Robotics Seminars

Türkçe Robot Sitesi

Courses

• CMPE58U Sp.Top.In CMPE:Multi-Robot Systems
• CMPE 565 Autonomous Robots
• CMPE 49A Introduction to Robotics
  

Projects:

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

Teams

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

PhD Students:

• Ersin Basaran
• Serhan Danis
• Baris Gokce
• Baris Eker
• Kemal Kaplan
  
• Can Kavaklioglu
• Baris Kurt
• Cetin Mericli
• Tekin Mericli
• Ergin Ozkucur
• Utku Tatlidede
  

M.Sc Students

• Aziz Asil
• Caner Kurtul
• Orhan Sonmez
  
• Bugra Tezer
  

Undergraduate Students

• Former Students
  

Publications:

• EKER, B. and H. L. Akin, "Using evolution strategies to solve DEC-POMDP problems," Soft Computing, Vol 14. No 1, pp. 35-47, 2010.

• TOSUN, O.  H. L. Akin, M. O. Tokhi and G S Virk (Ed.), MOBILE ROBOTICS- Solutions and Challenges, Proceedings of the Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines,Istanbul, Turkey, 9 – 11 September 2009, World Scientific, 2009.

• MERICLI, T., C. Mericli, E. Ozkucur, C. Kavaklioglu, B. Gokce, and H. L. Akin,"Dealing with Uncertainty in Structured Environments: A Robot Soccer Case Study",MOBILE ROBOTICS- Solutions and Challenges, Proceedings of the Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Istanbul, Turkey, 9 – 11 September 2009, O. Tosun,  H. L. Akin, M. O. Tokhi and G S Virk (Ed.), World Scientific,  pp.98-105, 2009.
  

• KAPLAN, K., C. Kurtul, and H. L. Akin,"Fast Lane Tracking Using HMM and MHT For Autonomous Urban Driving", MOBILE ROBOTICS- Solutions and Challenges, Proceedings of the Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Istanbul, Turkey, 9 – 11 September 2009, O. Tosun,  H. L. Akin, M. O. Tokhi and G S Virk (Ed.), World Scientific, pp.975-982, 2009.
  

• DANIS, F. S., and H. L. Akin,"Feature Selection for Depth Estimation in 2D Images on an Autonomous Ground Vehicle", MOBILE ROBOTICS- Solutions and Challenges, Proceedings of the Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Istanbul, Turkey, 9 – 11 September 2009, O. Tosun,  H. L. Akin, M. O. Tokhi and G S Virk (Ed.), World Scientific, pp. 82-89, 2009.
  

• AKIN, H. L., Ç. Meriçli, T. Meriçli and E. Dogrultan, "Introduction to Autonomous Robotics with Lego Mindstorms", MOBILE ROBOTICS- Solutions and Challenges, Proceedings of the Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Istanbul, Turkey, 9 – 11 September 2009, O. Tosun,  H. L. Akin, M. O. Tokhi and G S Virk (Ed.), World Scientific, pp.991-996, 2009.
  

• GOKCE, B., and H. L. Akin, "Parameter Optimization of a Signal-Based Biped Locomotion Approach Using Evolutionary Strategies", MOBILE ROBOTICS- Solutions and Challenges, Proceedings of the Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Istanbul, Turkey, 9 – 11 September 2009, O. Tosun,  H. L. Akin, M. O. Tokhi and G S Virk (Ed.), World Scientific, pp.733-740 , 2009.

• OZKUCUR, N. E., and H. L. Akin,"Cooperative Multi-Robot Map Merging Using Fast-SLAM", RoboCup International Symposium 2009, Graz, Austria, June 30 - July 3, 2009. (Accepted)

• MERICLI, T.,  and H. L. Akin, "Soccer Without Intelligence," IEEE ROBIO 2008, February , 2009, Bangkok, Thailand, pp. 2079-2084, 2009.

• MERICLI, T., Ç. Meriçli, and H. L. Akin, "A Robust Statistical Collision Detection Framework for Quadruped Robots," RoboCup 2008: Robot Soccer World Cup XII, L. Iocchi, et al.  (Eds.), LNAI Vol. 5399, pp. 145 - 156, 2009.

• OZKUCUR, N. E., B. Kurt and H. L. Akin, "A Collaborative Multi-Robot Localization Method Without Robot Identification," RoboCup 2008: Robot Soccer World Cup XII, L. Iocchi, et al.  (Eds.), LNAI Vol. 5399, pp. 189 - 199, 2009.
  

• MERICLI, C. and H. L. Akin, "A Layered Metric Definition and Validation Framework for Multirobot Systems," RoboCup 2008: Robot Soccer World Cup XII, L. Iocchi, et al.  (Eds.), LNAI Vol. 5399, pp. 568-579, 2009.

• SAFFIOTTI, A.,  P. Lima, H. L. Akin, et al, "Two "Hot Issues" in Cooperative Robotics: Network Robot Systems, and Formal Models and Methods for Cooperation," White Paper, EURON Special Interest Group on Cooperative Robotics, April 30, 2008.

• 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.1118-1123.

• 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.

• AKIN, H.L., "Yapay Zekada Vücut Beyin Problemi," Bilgisayar ve Beyin' 95, pp.149-158, 1997.(In Turkish).
  

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

Ph.D. Theses Supervised:

2009

• K. Kaplan, ADES: Autonomous Driver Evaluation System (In Progress)
• U. Tatlidede, Multi-Robot Coordination and Cooperation Based on Market Economy (In Progress)
• E. Basaran, Autonomous Hierarchical Reinforcement Learning (In Progress)
• B. Eker, Multiagent Decision Making in Dynamic Environments (In Progress)
• Ç. Meriçli, A Mental Development Framework For Autonomous Robots (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:

2009

• C. Kurtul, A "Rules Engine" for Autonomous Vehicles in Urban Traffic (In Progress)
• O. Sonmez, Learning Rewards of Multi-Agent Reinforcement Learning in Robot Soccer (In Progress)
• A. Asil, Development of Reinforcement Learning Based Neural Network Algorithms to Generate Dynamically Stable Gaits for Humanoid Robots (In Progress)
• B. Tezer, Development and Customization of the Mobile Robot Simulation Environment ‘Roboscene’ (In progress)
• O. F. Gunes, Implementation of a Mobile Tour-Guide Robot 
• B. Kurt,  Imitation of Human Arm Movements by a Humanoid Robot Using Monocular Vision
• S. Danis,  Development of a Multi-Sensored Autonomous Ground Vehicle
• C. Kavaklioglu,  Developing A Probabilistic Post Perception Module For Mobile Robotics
• B. Gokce,  Design and Implementation of a Bipedal Walking Algorithm for Nao Humanoid Robots
• E. Ozkucur, Design and Implementation of Multi-agent Visual-SLAM Algorithms on Autonomus Robots

2008

• T. Mericli,   Braitenberg Soccer: Learning How to Play Soccer with Primitive Behaviors
  
• 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.