Erol Sahin

Erol Sahin
Middle East Technical University | METU · Department of Computer Engineering

PhD

About

99
Publications
33,220
Reads
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4,451
Citations
Citations since 2017
4 Research Items
1805 Citations
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2017201820192020202120222023050100150200250300350
2017201820192020202120222023050100150200250300350
2017201820192020202120222023050100150200250300350
Introduction
Swarm robotics, Cognitive Robotics, Human-Robot Interaction, UAVs

Publications

Publications (99)
Chapter
In this paper, we propose a novel range and bearing sensing (RnB) system for micro-air vehicle (MAV) swarms. The RnB system uses 12 infrared (IR) time-of-flight (ToF) sensors and measures the range and bearing of obstacles and other MAVs. The system incorporated hardware and software filtering to remove ambient noise and interference between differ...
Chapter
Flocking, coordinated movement of individuals, widely observed in animal societies, and it is commonly used to guide robot swarms in cluttered environments. In standard flocking models, robot swarms often use local interactions between the robots and obstacles to achieve safe collective motion using virtual forces. However, these models generally i...
Article
Full-text available
Honey bees live in colonies of thousands of individuals, that not only need to collaborate with each other but also to interact intensively with their ecosystem. A small group of robots operating in a honey bee colony and interacting with the queen bee, a central colony element, has the potential to change the collective behavior of the entire colo...
Article
Full-text available
Detection and distance estimation of micro unmanned aerial vehicles (mUAVs) is crucial for (i) the detection of intruder mUAVs in protected environments; (ii) sense and avoid purposes on mUAVs or on other aerial vehicles and (iii) multi-mUAV control scenarios, such as environmental monitoring, surveillance and exploration. In this article, we evalu...
Conference Paper
In this paper, we study the learning and representation of grounded spatial concepts in a probabilistic concept web that connects them with other noun, adjective, and verb concepts. Specifically, we focus on the prepositional spatial concepts, such as “on”, “below”, “left”, “right”, “in front of” and “behind”. In our prior work (Celikkanat et al.,...
Article
Inspired by infant development, we propose a three staged developmental framework for an anthropomorphic robot manipulator. In the first stage, the robot is initialized with a basic reach-and- enclose-on-contact movement capability, and discovers a set of behavior primitives by exploring its movement parameter space. In the next stage, the robot ex...
Conference Paper
Full-text available
In this work, we model context in terms of a set of concepts grounded in a robot's sensorimotor interactions with the environment. For this end, we treat context as a latent variable in Latent Dirichlet Allocation, which is widely used in computational linguistics for modeling topics in texts. The flexibility of our approach allows many-to-many rel...
Article
We study how a robot can link concepts represented by adjectives and nouns in language with its own sensorimotor interactions. Specifically, an iCub humanoid robot interacts with a group of objects using a repertoire of manipulation behaviors. The objects are labeled using a set of adjectives and nouns. The effects induced on the objects are labele...
Conference Paper
In cognitive robotics community, categories belonging to adjectives and nouns have been learned separately and independently. In this article, we propose a prototype-based framework that conceptualize adjectives and nouns as separate categories that are, however, linked to and interact with each other. We demonstrate how this co-learned concepts mi...
Conference Paper
Learning and conceptualizing words categories such as verbs, nouns and adjectives in language based on sensorimotor interactions of a robot is a challenging topic in cognitive robotics. In this article, we summarize our approach that is based on first learning affordances of objects by interacting with them, and then, learning and conceptualizing v...
Article
Full-text available
The districting problem consists in grouping small geographic areas into larger clusters called "dis-tricts" in a way that these latter are "good" according to relevant criteria. Previous districting models that have been proposed in the literature for different contexts such as the design of political districts or the sales territory alignment are...
Article
Full-text available
In this paper, we investigate how the interactions of a robot with its environment can be used to create concepts that are typically represented by verbs in language. Towards this end, we utilize the notion of affordances to argue that verbs typically refer to the generation of a specific type of effect rather than a specific type of action. Then, we s...
Conference Paper
Human infants practice their initial, seemingly random arm movements for transforming them into voluntary reaching and grasping actions. With the developing perceptual abilities, infants further explore their environment using the behavior repertoire they have developed, and learn causality relations in the form of affordances, which they use for g...
Conference Paper
Full-text available
Behavioural and neuroscience studies have shown that observing objects activates affordances, evoking motor responses. The aim of the present study is twofold. First, we intend to investigate whether children are sensitive to the distinction between neutral/graspable (affordances) and dangerous objects. Second, we aim to verify whether children's r...
Article
The studies on mirror neurons observed in monkeys indicate that recognition of other's actions activates neural circuits that are also responsible for generating the very same actions in the animal. The mirror neuron hypothesis argues that such an overlap between action generation and recognition can provide a shared worldview among individuals and...
Article
In daily life, the selection of a hand tool for a job depends on appereance of the tool and its effect on the objects. The effect determines the affordance of the chosen tool. Aim of this work is to determine the affordances of hand tools based only on their appereance and to build a basis for simple tool usage of humanoid robots. Towards this end,...
Conference Paper
Full-text available
Parental scaffolding is an important mechanism utilized by infants during their development. Infants, for example, pay stronger attention to the features of objects highlighted by parents and learn the way of manipulating an object while being supported by parents. In this paper, a robot with the basic ability of reaching for an object, closing fin...
Conference Paper
The notion of affordance has taken the attention of roboticists in recent years. Previously we had used this concept to learn and perceive the traversability of a mobile robot platform. In this paper, we have shown how a simplistic humanoid robot equipped with time-of-flight ultrasonic sensor can learn traversability affordance. In addition to this...
Article
In this paper, we show that through self-interaction and self-observation, an anthropomorphic robot equipped with a range camera can learn object affordances and use this knowledge for planning. In the first step of learning, the robot discovers commonalities in its action-effect experiences by discovering effect categories. Once the effect categor...
Conference Paper
In this paper, we propose a method that enables a robot to learn not only the existence of affordances provided by objects, but also the behavioral parameters required to actualize them, and the prediction of effects generated on the objects in an unsupervised way. In a previous study, it was shown that through self-interaction and self-observation...
Conference Paper
In this paper, we use the notion of affordances, proposed in cognitive science, as a framework to propose a developmental method that would enable a robot to ground symbolic planning mechanisms in the continuous sensory-motor experiences of a robot. We propose a method that allows a robot to learn the symbolic relations that pertain to its interact...
Conference Paper
In this paper, we used the affordance formalization framework (Sahin et al; Adaptive Behavior, 15(4), 447-472, 2007) to link the concepts represented by verbs and nouns in language to the affordance relations that a robot acquires through its interaction with the environment. First, we argued that a verb is linked not to a specific behavior of the...
Article
Full-text available
In this paper, we study how a self-organized mobile robot flock can be steered toward a desired direction through externally guiding some of its members. Specifically, we propose a behavior by extending a previously developed flocking behavior to steer self-organized flocks in both physical and simulated mobile robots. We quantitatively measure the...
Article
Full-text available
In this paper, we demonstrate that simple interactions with objects in the environment leads to a manifestation of the perceptual properties of objects. This is achieved by deriving a condensed representation of the effects of actions (called effect prototypes in the paper), and investigating the relevance between perceptual features extracted from...
Article
Full-text available
The concept of affordances, introduced in psychology by J. J. Gibson, has recently attracted interest in the development of cognitive systems in autonomous robotics. In earlier work (Sahin, Çakmak, Dogar, Ugur, & Üçoluk), we reviewed the uses of this concept in different fields and proposed a formalism to use affordances at different levels of robo...
Article
In this paper, we study how flocking affects the accuracy and speed of individuals in long-range “migration”. Specifically, we extend a behavior that can generate self-organized flocking in a swarm of robots to follow a homing direction sensed through the magnetic field of the Earth and evaluate how the final points reached by the flock are scatter...
Conference Paper
Full-text available
The notion of affordances is often directly linked with studies on mirror and canonical neurons as well as studies that try to relate language. In our previous work, we had developed a formalization for the learning, perception and use of affordances in autonomous robots. In this paper, we will present ideas on how this formalization can be used as...
Conference Paper
Full-text available
In this paper, we study how the concepts learned by a robot can be linked to verbal concepts that humans use in language. Specifically, we develop a simple tapping behaviour on the iCub humanoid robot simulator and allow the robot to interact with a set of objects of different types and sizes to learn affordance relations in its environment. The ro...
Conference Paper
Full-text available
The notion of affordances that was proposed by J.J. Gibson, refers to the action possibilities offered to the organism by its environment. In a previous formalization, affordances are defined as general relations that pertain to the robot-environment interaction and they are represented as triples which consist of the initial percept of the environ...
Conference Paper
Full-text available
This study investigates the pros and cons of flocking in long- range "migration" of mobile robot swarms under the influ- ence of different factors. We present a flocking behavior con- sisting of three simple behaviors: heading alignment, proxi- mal control, and alignment to the desired homing direction. The behavior drives a flock of robots from on...
Conference Paper
Full-text available
In this paper, we propose a model for the self-organized aggregation of a swarm of mobile robots. Specifically, we use a simple probabilistic finite state automata (PFSA) based aggregation behavior and analyze its performance using both a point-mass and a physics-based simulator and compare the results against the predictions of the model. The resu...
Article
Full-text available
In this paper we present the realization of the formalism we have proposed for af- fordance learning and its use for planning (Sahin et al., 2007) on an anthropomorphic robotic hand. In this realization, the robot interacts with the objects in its environment using the programmed push and grasp-and- lift behaviors, and records its interactions in t...
Conference Paper
In this paper, we study how and to what extent a self-organized mobile robot flock can be guided to move in a desired direction by informing some of the individuals within the flock. Specifically, we extend a flocking behavior that was shown to maneuver a swarm of mobile robots as a cohesive group in free space avoiding obstacles in its path. In it...
Article
Full-text available
In this paper, we study self-organized flocking in a swarm of mobile robots. We present Kobot, a mobile robot platform developed specifically for swarm robotic studies. We describe its infrared-based short range sensing system, capable of measuring the distance from obstacles and detecting kin robots, and a novel sensing system called the virtual h...
Conference Paper
"Developmental robotics" proposes that, instead of trying to build a robot that shows intelligence once and for all, what one must do is to build robots that can develop. These robots should be equipped with behaviors that are simple but enough to bootstrap the system. Then, as the robot interacts with its environment, it should display increasingl...
Conference Paper
Full-text available
This paper studies self-organized flocking in a swarm of mobile robots. We present Kobot, a mobile robot platform developed specifically for swarm robotic studies, briefly describing its sensing and communication abilities. In particular, we describe a scalable method that allows the robots to sense the orientations of their neighbors using a digit...
Chapter
Full-text available
Swarm robotics is a novel approach to the coordination of large numbers of robots and has emerged as the application of swarm intelligence to multi-robot systems. Different from other swarm intelligence studies, swarm robotics puts emphases on the physical embodiment of individuals and realistic interactions among the individuals and between the in...
Chapter
In this position paper, we present an outline of the MACS approach to affordance-inspired robot control. An affordance, a concept from Ecological Psychology, denotes a specific relationship between an animal and its environment. Perceiving an affordance means perceiving an interaction possibility that is specific for the animal's perception and act...
Article
Full-text available
In this paper, we study how and to what extent a self-organized mobile robot flock can be guided to move in a desired direction by informing some of the individuals within the flock. Specifically, we extend a flocking behavior that was shown to maneuver a swarm of mobile robots as a cohesive group in free space, avoiding obstacles. In its original...
Conference Paper
Full-text available
The problem of dispersion in multi-robot systems could be loosely defined as maximizing the sensor coverage area while preserving the connectivity within the swarm. Dispersion of robotic swarms appears to be applicable and useful in missions such as planetary exploration, hurricane surveillance, or nuclear decontamination, where the robots with max...
Article
Full-text available
The concept of affordances was introduced by J. J. Gibson to eXplain how inherent “values” and “meanings” of things in the environment can be directly perceived and how this information can be linked to the action possibilities offered to the organism by the environment. Although introduced in psychology, the concept influenced studies in other fie...
Conference Paper
When a new technology such as Radio Frequency auto-Identification (RFID) that could revolutionize not only the industrial world but also the whole society arrives on the market place, one of the questions that practitioners face is to evaluate the impact of this technology and to assess precisely its benefit. A lot of works have been done, but now...
Conference Paper
Full-text available
In this paper, we studied how a mobile robot equipped with a 3D laser scanner can start from primitive behaviors and learn to use them to achieve goal-directed behaviors. For this purpose, we propose a learning scheme that is based on the concept of "affordances", where the robot first learns about the different kind of effects it can create in the...
Conference Paper
Full-text available
The concept of affordances, as proposed by J.J. Gibson, refers to the relationship between the organism and its environment and has become popular in autonomous robot control. The learning of affordances in autonomous robots, however, typically requires a large set of training data obtained from the interactions of the robot with its environment. T...
Conference Paper
Full-text available
We are interested in how the concept of affordances can affect our view to autonomous robot control, and how the results obtained from autonomous robotics can be reflected back upon the discussion and studies on the concept of affordances. In this paper, we studied how a mobile robot, equipped with a 3D laser scanner, can learn to perceive the trav...
Article
Full-text available
The requirements of a mobile robot to be used as part of a swarm robotic system differs from that of a mobile robot to be used as stand-alone. In this paper, we first provide a wishlist of requirements that would be sought for in mobile robot platforms to be used in swarm robotics research. Then, we describe Kobot, as a new mobile robot platform wh...
Article
Full-text available
Swarm robotics is a new approach to the coordination of large numbers of relatively simple robots. The approach takes its inspiration from the system-level functioning of social insects which demonstrate three desired characteristics for multi-robot systems: robustness, flexibility and scalability. In this paper we have presented a preliminary taxo...
Book
Full-text available
Swarm robotics is the study of how large numbers of relatively simple physically embodied agents can be designed such that a desired collective behavior emerges from the local interactions among agents and between the agents and the environment. Swarm robotics has emerged as a novel approach to the coordination of large numbers of robots and is ins...
Book
Swarm robotics is the study of how large numbers of relatively simple physically embodied agentscanbe designedsuchthat a desiredcollectivebehavioremerges from the local interactions among agents and between the agents and the en- ronment. Swarm robotics has emerged as a novel approach to the coordination of large numbers of robots and is inspired f...
Article
Full-text available
How can a mobile robot measure the area of a closed region that is beyond its immediate sensing range? This problem, which we name as blind area measurement, is inspired from scout worker ants who assess potential nest cavities. We first review the insect studies that have shown that these scouts, who work in dark, seem to assess arbitrary closed s...
Conference Paper
Full-text available
We study the self-organized aggregation of a swarm of robots in a closed arena. We assume that the perceptual range of the robots are smaller than the size of the arena and the robots do not have information on the size of the swarm or the arena. Using a probabilistic aggregation behavior model inspired from studies of social insects, we propose a...
Article
We study the self-organized aggregation of a swarm of robots in a closed arena. We assume that the perceptual range of the robots are smaller than the size of the arena and the robots do not have information on the size of the swarm of the size of the arena. Using a probabilistic generic aggregation behavior model inspired from studies of social in...
Conference Paper
Full-text available
In this study, a systematic analysis of probabilistic aggregation strategies in swarm robotic systems is presented. A generic aggregation behavior is proposed as a combination of four basic behaviors: obstacle avoidance, approach, repel, and wait. The latter three basic behaviors are combined using a three-state finite state machine with two probab...
Conference Paper
Full-text available
When one attempts to use artificial evolution to develop behaviors for a swarm robotic system, he is faced with decisions to be made regarding the parameters of the evolution. In this paper, aggregation behavior is chosen as a case, where performance and scalability of aggregation behaviors of perceptron controllers that are evolved for a simulated...
Conference Paper
Full-text available
Swarm robotics is a novel approach to the coordination of large numbers of relatively simple robots which takes its inspiration from social insects. This paper proposes a definition to this newly emerging approach by 1)describing the desirable properties of swarm robotic systems, as observed in the system-level functioning of social insects, 2)prop...
Book
Full-text available
Conference Paper
Full-text available
Swarm robotics is a novel approach to the coordination of large numbers of relatively simple robots which takes its inspiration from social insects. This paper proposes a definition to this newly emerging approach by 1) describing the desirable properties of swarm robotic systems, as observed in the system-level functioning of social insects, 2) pr...
Article
In this paper, we introduce a self-assembling and self-organizing artifact, called a Swarm-Bot, composed of a swarm of s-bots, mobile robots with the ability to connect to and to disconnect from each other. We discuss the challenges involved in controlling a Swarm-Bot and address the problem of synthesizing controllers for the Swarm-Bot using artif...
Article
Recent advances in robotics have started making it feasible to deploy large numbers of inexpensive robots for tasks such as surveillance and search. However, coordination of multiple robots to accomplish such tasks remains a challenging problem. This report reviews some of the recent literature in multi-robot systems. It consists of two parts. In t...
Article
In this paper, we study aggregation in a swarm of simple robots, called s-bots, having the capability to self-organize and selfassemble to form a robotic system, called a swarm-bot. The aggregation process, observed in many biological systems, is of fundamental importance since it is the prerequisite for other forms of cooperation that involve self...
Conference Paper
Full-text available
The paper reports the development of a software platform, named PES (Parallelized Evolution System), that parallelizes the fitness evaluations of evolutionary methods over multiple computers connected via a network. The platform creates an infrastructure that allows the dispatching of fitness evaluations onto a group of computers, running both Wind...
Conference Paper
Full-text available
In this paper, we study aggregation in a swarm of simple robots, called s-bots, having the capability to self-organize and self-assemble to form a robotic system, called a swarm-bot. The aggregation process, observed in many biological systems, is of fundamental importance since it is the prerequisite for other forms of cooperation that involve sel...
Article
Full-text available
In this paper, we introduce a self-assembling and self-organizing artifact, called a swarm-bot, composed of a swarm of s-bots, mobile robots with the ability to connect to and to disconnect from each other. We discuss the challenges involved in controlling a swarm-bot and address the problem of synthesizing controllers for the swarm-bot using artif...
Article
Full-text available
In this paper we introduce a new robotic system, called swarm-bot. The system consists of a swarm of mobile robots with the ability to connect to/disconnect from each other to self-assemble into di#erent kinds of structures. First, we describe our vision and the goals of the project. Then we present preliminary results on the formation of patterns...