
Furkan ÇakmakYıldız Technical University · Department of Computer Engineering
Furkan Çakmak
PhD student
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30
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173
Citations
Publications
Publications (30)
Social navigation is beneficial for mobile robots in human inhabited areas. In this paper, we focus on smooth path tracking and handling disruptions during plan execution in social navigation. We extended the social force model (SFM)-based local planner to achieve smooth and effective social path following. The SFM-based local motion planner is use...
In human-populated environments, robot navigation requires more than mere obstacle avoidance for safe and comfortable human-robot interaction. Socially aware navigation approaches become vital for deploying mobile service robots in human interactive environments, where the robot operates in interaction with human implicitly or explicitly. These app...
During multi-robot exploration, the calculation cost of the target assignment increases significantly with an increase in the map size and number of robots. In this study, a target elimination method is proposed to overcome this challenge. The benefit of the proposed method increases as the map size and number of robots increase, which is demonstra...
Socially aware robot navigation aims to generate human-friendly paths in human-robot interactive environments. This paper focuses on maintaining humans' physical safety and mental comfort during the robot navigation in an unknown dynamic environment. To achieve this goal, we use a variant of a pedestrian model called Collision Prediction based Soci...
In this study, a mobile device with Android
operating system was used to control a six-wheel differential drive mobile
robot. In the literature, it is seen that there is no open source and
comprehensive study in this matter, so that this study aimed to give a sample
work for future applications. The Robot Operating System (ROS) framework has
been e...
Robots are an important part of urban search and rescue tasks. World wide attention has been given to developing capable physical platforms that would be beneficial for rescue teams. It is evident that use of multi-robots increases the effectiveness of these systems. The Robot Operating System (ROS) is becoming a standard platform for the robotics...
Accurate pose estimation plays an important role in solution of simultaneous localization and mapping (SLAM) problem, required for many robotic applications. This paper presents a new approach called R-SLAM, primarily to overcome systematic and non-systematic odometry errors which are generally caused by uneven floors, unexpected objects on the flo...
Bu çalışmada, üzerinde Android işletim sistemi yüklü bir mobil cihaz yardımıyla 6 tekerlekli diferansiyel sürüşlü bir mobil robotun kontrolü ele alınmıştır. Literatürde, bu konuda tam manasıyla açık kaynaklı ve kapsamlı bir çalışma yapılmadığı görüldüğünden, örnek bir çalışma ortaya konmak istenmiştir. Mobil robot üzerinde ROS (The Robot Operating...
Urban search and rescue robots explore the area which they don't know. They must localize themselves, map the environment, and choose their targets. The usage of robot teams can be very effective for large areas instead of a single robot. Robot teams can be managed with distributed or centric methodologies. In a distributed architecture, each robot...
Object detection problem is a considerable research field that is being developed through continuous research. Simulated victims (dolls) detection performances of 2 different methods are given in the scope of this work. While deformable part model method is performing high accuracy and speed to detect object, with growing and remarkable popularity,...
3 dimensional RGB map extraction with use of registered RGB and depth data from Kinect has been widely implemented. This wide usage mostly comes from the fact that intrinsic and extrinsic parameters for both RGB and the infrared cameras are known out of the shelf. This study mostly focuses on 3 dimensional thermal mapping with RGBD-SLAM (RGBD Simul...
Exploration is defined as the selection of target points that yield the biggest contribution to a specific gain function at an initially unknown environment. Exploration for autonomous mobile robots is closely related to mapping, navigation, localization and obstacle avoidance. In this study an autonomous frontier-based exploration strategy is impl...
Çeşitli kısıtlardan dolayı (klavye tuş takımı, editör kısıtlaması) Türkçe karakterler kullanılmadan yazılmış bir metnin barındırdığı karakter hatalarının düzeltilmesi el ile gerçekleştirildiğinde oldukça zaman almaktadır. Aynı zamanda bir çok durumda gözden kaçan kelimeler de olmaktadır. Özellikle kelimelerin Türkçe karaktersiz halleri (kir/kır) bi...
Keşif algoritmaları, ortama ilişkin öncül bilgiye sahip olunmadığı durumda, çeşitli kriterlere göre en yüksek katkıyı sağlayacak hedeflerin belirlenmesini ifade etmektedir. Otonom mobil robotlar için keşif algoritmaları; haritalama, gezinim, konum belirleme ve engel kaçınımı ile yakından ilişkilidir. Bu çalışma ile hudut hedefleri yöntemi kullanıla...
Robotik alanındaki araştırmaların artmasıyla birlikte, robot yazılımlarının robot platformundan bağımsız olarak gerçekleştirilebileceği esnek bir çatı yazılıma ihtiyaç duyulmuştur. Bu ihtiyacı karşılamak için öncülüğünü Willow Garage ekibinin yaptığı bir çalışma 2007 yılında başlatılmıştır ve ROS (The Robot Operating System) adını almıştır. Yapılan...
Trajectory estimation is important for mobile robots as it can be used in path extraction, distance to target estimation, obstacle avoidance and autonomous control. This work mainly focuses on trajectory and pose estimation based on range and inertia sensors without the need of wheel odometry. Mainly two different approaches are implemented for tra...
Trajectory estimation is important for mobile robots as it can be used in path extraction, distance to target estimation, obstacle avoidance and autonomous control. This work mainly focuses on trajectory and pose estimation based on range and inertia sensors without the need of wheel odometry. Mainly two different approaches are implemented for tra...