Baran Çürüklü

Mälardalen University | MDH · School of Innovation, Design and Engineering

Mission planning for multi-agent autonomous systems aims to generate feasible and optimal mission plans that satisfy given requirements. In this article, we propose a tool-supported mission-planning methodology that combines (i) a path-planning algorithm for synthesizing path plans that are safe in environments with complex road conditions, and (ii...

The advent of powerful control units and the widespread availability of cheap computers have significantly increased the role of artificial intelligence (AI) in various sectors. In the field of maritime applications, this progress has led to the emergence of Edge AI as an important technology. This research focuses on the application of Edge AI to...

Multi-agent systems have received a tremendous amount of attention in many areas of research and industry, especially in robotics and computer science. With the increased number of agents in missions, the problem of allocation of tasks to agents arose, and it is one of the most fundamental classes of problems in robotics, formally known as the Mult...

Emerging precision agriculture techniques rely on the frequent collection of high-quality data which can be acquired efficiently by unmanned aerial systems (UAS). The main obstacle for wider adoption of this technology is related to UAS operational costs. The path forward requires a high degree of autonomy and integration of the UAS and other cyber...

In this paper, a novel path planning algorithm for multiple robots using congestion analysis and control is presented. The algorithm ensures a safe path planning solution by avoiding collisions among robots as well as among robots and humans. For each robot, alternative paths to the goal are realised. By analysing the travelling time of robots on d...

The use of multiagent systems (MASs) in real-world applications keeps increasing, and diffuses into new domains, thanks to technological advances, increased acceptance, and demanding productivity requirements. Being able to automate the generation of mission plans for MASs is critical for managing complex missions in realistic settings. In addition...

Multi-Agent Systems (MASs) have been widely adopted in robotics, as a means to solve complex missions by subdividing them into smaller tasks. In such a context, Multi-Robot Task Allocation (MRTA) has been a relevant research area, with the main aim of providing formulations and solutions to different mission configurations, in order to optimize the...

How do children (aged 6–12 years) understand and make use of a digital tool that is under development? This article builds on an ongoing interdisciplinary research project in which children, social workers (the inventers of this social innovation) and researchers together develop an interactive digital tool (application) to strengthen children’s pa...

Farming is facing many economic challenges in terms of productivity and cost-effectiveness. Labor shortage partly due to depopulation of rural areas, especially in Europe, is another challenge. Domain specific problems such as accurate monitoring of soil and crop properties and animal health are key factors for minimizing economical risks, and not...

Multi-Agent Systems (MASs) have received great attention from scholars and engineers in different domains, including computer science and robotics. MASs try to solve complex and challenging problems (e.g., a mission) by dividing them into smaller problem instances (e.g., tasks) that are allocated to the individual autonomous entities (e.g., agents)...

Multi-robot task allocation (MRTA) problems have been studied extensively in the past decades. As a result, several classifications have been proposed in the literature targeting different aspects of MRTA, with often a few commonalities between them. The goal of this paper is twofold. First, a comprehensive overview of early work on existing MRTA t...

Multi-robot task allocation (MRTA) problems have been studied extensively in the past decades. As a result, several classifications have been proposed in the literature targeting different aspects of MRTA, with often a few commonalities between them. The goal of this paper is twofold. First, a comprehensive overview of early work on existing MRTA t...

In recent years, multi-agent systems have been widely used in different missions, ranging from underwater to airborne. A mission typically involves a large number of agents and tasks, making it very hard for the human operator to create a good plan. A search for an optimal plan may take too long, and it is hard to make a time estimate of when the p...

Recent industrial developments in autonomous systems, or agents, which assume that humans and the agents share the same space or even work in close proximity, open for new challenges in robotics, especially in motion planning and control. In these settings, the control system should be able to provide these agents a reliable path following control...

Underwater imaging has become an active research area in recent years as an effect of increased interest in underwater environments and is getting potential impact on the world economy, in what is called blue growth. Since sound propagates larger distances than electromagnetic waves underwater, sonar is typically used for underwater imaging. One in...

Adaptive autonomy allows agents to change their autonomy levels based on circumstances, e.g. when they decide to rely upon one another for completing tasks. In this paper, two configurations of agent models for adaptive autonomy are discussed. In the former configuration, the adaptive autonomous behavior is modeled through the willingness of an age...

Major challenges are presented when managing a large number of heterogeneous vehicles that have to communicate underwater in order to complete a global mission in a cooperative manner. In this kind of application domain, sending data through the environment presents issues that surpass the ones found in other overwater, distributed, cyber-physical...

In this paper, a centralized mission planner is presented. The planner employs a genetic algorithm for the optimization of the temporal planning problem. With the knowledge of agents’ specification and capabilities, as well as constraints and parameters for each task, the planner can produce plans that utilize multi-agent tasks, concurrency on agen...

The aim of the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) project is to make autonomous underwater vehicles (AUVs), remote operated vehicles (ROVs) and unmanned surface vehicles (USVs) more accessible and useful. To achieve cooperation and communication between different AUVs, these must be able to exchange messages, so a...

Machines are going to become smarter with autonomy as the new standard. Consequently, new services will emerge. For this to happen, however, we need a new approach to autonomy, which assumes different levels – and perhaps more importantly, machines that can handle these different levels. Adaptive autonomy is a means to achieving this goal.

In this paper, a Genetic Algorithm (GA) is used for solving underwater mission planning problem. The proposed genetic planner is capable of utilizing multiple Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) in a mission plan, as well as running multiple tasks in parallel on the agent’s level. The problem is described usi...

The main objective of this paper is to propose a hand design that is inexpensive, robust against collisions and has enhanced grasping performance. Instead of simply copying human hand design this work will focus on mimicking its capabilities and functional properties. At this stage of the research only the index finger and the thumb have been reali...

The main objective of this paper is to propose a hand design that is inexpensive, robust against collisions and has enhanced grasping performance. Instead of simply copying human hand design this work will focus on mimicking its capabilities and functional properties. At this stage of the research only the index finger and the thumb have been reali...

In this paper, scheduling of robot cells that produce multiple object types in low volumes are considered. The challenge is to maximize the number of objects produced in a given time window as well as to adopt the schedule for changing object types. Proposed algorithm, POPStar, is based on a partial order planner which is guided by best-first searc...

Recent work [Hazy 2012] has demonstrated computationally that collectives that are organized into networks which govern the flow of resources can learn to recognize newly emerging opportunities distributed in the environment. This paper argues that the system does this through a process analogous to neural network learning with relative status play...

Typical pick and place, and machine tending applications often require an industrial robot to be embedded in a cell and to communicate with other devices in the cell. Programming the program logic is a tedious job, requiring expert programming knowledge, and it can take more time than programming the specific robot movements itself. We propose a ne...

Among ethicists and engineers within robotics there is an ongoing discussion as to whether ethical robots are possible or even desirable. We answer both of these questions in the positive, based on an extensive literature study of existing arguments. Our contribution consists in bringing together and reinterpreting pieces of information from a vari...

Humans employ different information channels (modalities) such as speech, pictures and gestures in their communication. It is believed that some of these modalities are more error-prone to some specific type of data and therefore multimodality can help to reduce ambiguities in the interaction. There have been numerous efforts in implementing multim...

Developing easy to use, intuitive interfaces is crucial to introduce robotic automation to many small medium sized enterprises (SMEs). Due to their continuously changing product lines, reprogramming costs exceed installation costs by a large margin. In addition, traditional programming methods for industrial robots is too complex for an inexperienc...

Face-to-face human communication is a multimodal and incremental process. An intelligent robot that operates in close relation with humans should have the ability to communicate with its human colleagues in such manner. The process of understanding and responding to multimodal inputs has been an interesting field of research and resulted in advance...

Robots do not have any capability of taking moral responsibility. At the same time industrial robotics is entering a new era with ¿intelligent¿ robots sharing workbench with humans. Teams consisting of humans and industrial robots are no longer science fiction. The biggest worry in this scenario is the fear of humans losing control and robots run...

In this paper a system, which is driven through natural language, that allows operators to select and manipulate objects in the environment using an industrial robot is proposed. In order to hide the complexities of robot programming we propose a natural language where the user can control and jog the robot based on reference objects in the scene....

In this paper we present a new simplified natural language that makes use of spatial relations between the objects in scene to navigate an industrial robot for simple pick and place applications. Developing easy to use, intuitive interfaces is crucial to introduce robotic automation to many small medium sized enterprises (SMEs). Due to their contin...

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In this paper we explore the feasibility of artificial (formal) grammar recognition (AGR) using spiking neural networks. A biologically inspired minicolumn architecture is designed as the basic computational unit. A network topography is defined based on the minicolumn architecture, here referred to as nodes, connected with excitatory and inhibitor...

In this chapter, we present data collection activities and preliminary research findings from the real-world database collected with “UYANIK,” a passenger car instrumented with several sensors, CAN-Bus data logger, cameras, microphones, data acquisitions systems, computers, and support systems. Within the shared frameworks of Drive-Safe Consortium...

A new approach to interact with an industrial robot using hand gestures is presented. System proposed here can learn a first time userpsilas hand gestures rapidly. This improves product usability and acceptability. Artificial neural networks trained with the evolution strategy technique are found to be suited for this problem. The gesture recogniti...

Over the past few decades the use of industrial robots has increased a company's efficiency as well as strengthening their competitiveness in the market. Despite this fact, in many cases, robot automation investments are considered to be technically challenging as well as costly by small and medium sized enterprises (SME). We hypothesize that in or...

In this paper, we present data collection activities and preliminary research findings from the real-world database collected with "UYANIK," a passenger car instrumented with various sensors, CAN-Bus data logger, cameras, microphones, data acquisitions systems, computers, and support systems. Within the shared frameworks of Drive- Safe Consortium (...

We propose a developmental model of the summation pools within the layer 4. The model is based on the modular structure of the neocortex and captures some of the known properties of layer 4. Connections between the orientation minicolumns are developed during exposure to visual input. Excitatory local connections are dense and biased towards the is...

We present a quantitative assessment of the local and long-range horizontal connections within two separate models of layer 4 and layer 2/3 of the striate cortex. Connections between the orientation minicolumns, building the models, are developed during exposure to visual input. Layer 4 long-range horizontal connections target all orientation domai...

A patch of layer 4 of cat area 17 has been modeled. The developmental network model is based on the modular structure of the neocortex. Connections between the orientation minicolumns, building the network model, are developed during exposure to visual input. The network model captures some of the known properties of the layer 4 of cat area 17. Loc...

Previous studies have suggested that synchronized firing is a prominent feature of cortical processing. Simplified network models have replicated such phenomena. Here we study to what extent these results are robust when more biological detail is introduced. A biologically plausible network model of layer II/III of tree shrew primary visual cortex...

In this paper we explore the feasibility of artificial (formal) grammar recognition (AGR) using spiking neural networks. A biologically inspired minicolumn architecture is designed as the basic computational unit. A network topography is defined based on the minicolumn architecture, here referred to as nodes, connected with excitatory and inhibitor...

In this paper, some of the factors that affect classification performance of EEG based Brain-Computer Interfaces (BCI) is studied. Study is specified on P300 speller system which is also an EEG based BCI system. P300 is a physiological signal that represents a response of brain to a given stimulus which occurs right 300ms after the stimulus onset....

This paper describes a possibility to utilize a "component language", which will automatically generate the glue code between components. The possibility of the glue code generation is discussed by relating problems to Artificial Intelligence methods. The components can be composed in a frame of a visual working environment where the user does not...