Autonomous Robots Research
Tekil 12 - Yapay Zeka - Prof. Dr. Levent AKIN
Teke Tek Özel - 16 Ekim 2016 (Yapay Zeka ve Beyin)
"Arkadaşım
Bir Robot!", TEDxReset 2012.
"Yapay
Zeka
ve Robotlar", TÜBİTAK Bilim ve Genç.
Robotics
Seminars
Türkçe Robot
Sitesi
Robotics
Group Media Coverage
Tools
and
Resources for Research, Theses and Papers
Courses
- CMPE 434 Introduction to Robotics
- CMPE 565 Autonomous Robots
- CMPE
58U Sp.Top.In CMPE:Multi-Robot Systems
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
- Planning
for Tabletop Clutter Using Affordable 5-DOF Manipulator
- Robotic
Fitness Coach
- Push-Manipulation
of Complex Passive Mobile Objects using Experimentally
Acquired Motion Models
- Quadcopter
Control Using Emotiv Headset
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:
- Okan Aşık
- Ersin Başaran
- Barış Gökçe
- Binnur Görer
- Yiğit Yıldırım
- İbrahim Özcan
- Metehan Doyran
M.Sc Students
- Murat Toygar
- Yasemin Usta
- Rahmetullah Varol
- Talat Çıkıkçı
- S. Ece Ada
Undergraduate Students
- Ahmet Faruk Çelimli
- Alaattin Kaan Cerrah
- Canberk Yıldırım
- Hatice Kübra Eryılmaz
- İsmet Dağlı
Publications:
2019
2018
- OZKUCUR,
N.E, H. L. Akın, "Autonomous feature type selection based on
environment using expectation maximization in
self-localization", International Journal of Advanced
Robotic Systems, Vol. 15, No.6, pp. 1-16, 2018.
- O Aşık, B Görer, HL Akın, End-to-End Deep Imitation Learning: Robot Soccer Case Study, arXiv preprint arXiv:1807.09205,2018.
- Usta K. Y. ve Akın H.L. "Servis Robotları İçin Etik Birimi Tasarım ", 2018 Türkiye Robotbilim Konferansı (TORK 2018), Boğaziçi Üniversitesi, İstanbul, 12-14 Nisan 2018, pp.131-132, 2018.
2017
2016
2015
2014
2013
- GUNEYSU,
A., and H. L. Akin, "An SSVEP Based BCI to Control a
Humanoid Robot by Using Portable EEG Device," 35th Annual
International IEEE EMBS Conference, Osaka, Japan, July
3-7, 2013, pp.6905
- 6908, 2013.
- OZGUR,
A., and H. L. Akin, "An
Affordable Robotic Arm Design for Manipulation in Tabletop
Clutter," CSW 2013, 2013.
- GOKCE,
B. ve H. L. Akin,"Öğrenilmiş Alt-Hedef Davranışlarının
Aktarımı ile Pekiştirmeli Öğrenmenin Robot
Navigasyonunda Uygulanması (Implementation of
Reinforcement Learning by Transfering Sub-Goal Policies
in Robot Navigation)" 21st
Signal Processing and Communications Applications
Conference (SIU), 2013.
2012
- MERICLI,
T., M. Veloso, and H. L. Akin, “Experience Guided Mobile
Manipulation Planning”, 8th International Cognitive
Robotics Workshop, AAAI'12, July
22-23, 2012, Toronto, Canada,
pp.55-60, 2012.
- ASIK, O., and H. L. Akin, "FSC
Designer: A Visual FSM Design Tool for Robot Control," 3rd
Computer Science Student Workshop (CSW'12),
2012.
2011
2010
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.
2008
2007
- 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.
2006
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)
- 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.
2004
- 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.
- 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.
2003
- 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.
2002
- 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.
- 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.
2001
- 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.
2000
- 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.
1998
- 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
1997
Ph.D. Theses Supervised:
2019
- Y. Yildirim, Application of Inverse Reinforcement Learning Techniques in Social Robot Navigation(In Progress)
- E. Başaran, Deep Model Based Reinforcement Learning With Short-Long Term Predictions (In Progress)
- O. Asik, Scalable Multi-Agent Decision Making Algorithms for Real World Problems (In Progress)
- B. Gokce, Transfer Learning By Subgoal Discovery in Partially Observable Dynamic Environments (In Progress)
- B. Gorer, IM4U: A Computational Affective Model for Companion Robots to Increase Interaction Quality and Task Engagement (In Progress)
2017
- A. U. Peker, Digital Map and GNSS Fusion to Enhance Localization for Intelligent Vehicle Applications (Co-Advisor with O. Tosun)
2014
- T. Meriçli, Case Based Mobile
Manipulation (Co-advisor with M. Veloso)
2012
- B. Eker, Evolutionary Algorithms
for Solving DEC-POMDP Problems
2011
- K. Kaplan, ADES: Autonomous Driver
Evaluation System
- Ç. Meriçli, Multi-Resolution Model
Plus Correction Paradigm for Task and Skill Refinement on
Autonomous Robots (Co-advisor with M. Veloso)
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:
2019
- M. Toygar, Social Relation Recognition For Social Robots (In Progress)
- R. Varol, Action Recognition For Social Robots (In Progress)
- S. Ece Ada, Transfer Learning for Continuous Control (In Progress)
- T. Çıkıkçı, Mapping of a Dark Cavity by a Drone Swarm (In Progress)
- K. Y. Usta, Development of an Ethics Module for a Service Robot (In Progress)
2018
- M. Doyran, Indoor Visual Understanding with RGB-D Images Using Deep Neural Networks for a Service Robot.
- I. Ozcan, Accompaniment Robot with Turkish Speech Synthesis and Lip Synchronization
2016
- B. Irfan, Manipulation and
Placement Planning for Loading a Dishwasher by a Robot
2015
- Y. Yildirim, Human-Aware Robot
Navigation Using the Social Force Model
2013
- B. Gorer, Developing a Fitness
Coach Robot for Elderly People in Assisted Living
Environments
2012
- O. Aşık, Using DEC-POMDP
Algorithms to Solve Multi-Agent Decision Problems in Robot
Soccer
2010
- C. Kurtul, Road Lane and Traffic
Sign Detection and Tracking
2009
- 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.