Publications

2008
  • E. Rome, L. Paletta, E. Sahin, G. Dorffner, J. Hertzberg, R. Breithaupt, G. Fritz, J. Irran, F. Kintzler, C. Loerken, S. May, E. Ugur (in press) . The MACS project: An approach to affordance-based robot control, in In: Towards Affordance-based Robot Control, Proceedings of Dagstuhl Seminar 06231, Springer-Verlag, LNAI 4760, E. Rome, J. Hertzberg, and G. Dorffner (eds.), February 2008.
  • Sahin E., Girgin S., Bayindir L. and Turgut A.E. (in press) . Swarm Robotics, in Swarm Intelligence - Introduction and Applications (editors: C. Blum and D. Merkle), Springer.
  • Turgut A.E., Celikkanat H., Gokce, F. and Sahin, E. (accepted) . Self-Organized Flocking with a Mobile Robot Swarm. Accepted to AAMAS'08
  • Dogar M.R., Ugur E. Sahin, E. and Cakmak M. (accepted) . Using Learned Affordances for Robotic Behavior Development Accepted to ICRA'08
2007
  • Sahin E., Cakmak M., Dogar M.R., Ugur E. and Ucoluk G. (2007) . To afford or not to afford: A new formalization of affordances towards affordance-based robot control. Adaptive Behavior, vol 15, 4, pages 447-472. 
  • Sahin E., Spears W. and Winfield A.F.T.(editors) (2007),  Swarm Robotics: Second SAB 2006 International Workshop, 4433, Lecture Notes in Computer Science, Berlin Heidelberg, Springer.
  • Soysal O., Sahin E. (2007), A Macroscopic Model for Self-organized Aggregation in Swarm Robotic Systems, In Swarm Robotics: Second SAB 2006 International Workshop, Sahin E., Spears W., and Winfield A.F.T (editors), 4433, Lecture Notes in Computer Science, pages 27-42, Berlin Heidelberg, Springer.  
  • Ugur E., Dogar M.R., Cakmak M. and Sahin E. (2007) . The learning and use of traversability affordance using range images on a mobile robot, In Proc. of IEEE International Conference on Robotics and Automation, pp. 1721-1726.  Also available as web page.
  • Ugur E., Dogar M.R., Cakmak M. and Sahin E. (2007), Curiosity-driven Learning of Traversability Affordance on a Mobile Robot. IEEE International Conference on Development and Learning 2007.
  • Dogar M.R., Cakmak M., Ugur E. and Sahin E. (2007), From Primitive Behaviors to Goal-Directed Behavior Using Affordances.IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2007. Also available as web page.
  • Cakmak M., Dogar M.R., Ugur E. and Sahin E. (2007), Affordances as a Framework for Robot Control. Accepted to the International Workshop on Epigenetic Robotics (EpiRob) 2007.
  • Ugur, E., Turgut, A.E., Sahin, E. (2007) Dispersion of a swarm of robots based on realistic wireless intensity signals. Accepted to ISCIS'07 (22nd Int. Symposium on computer and Information Sciences).
  • Turgut A.E., Gokce F., Celikkanat H., Bayındır L., Sahin E.  (2007), Kobot: Sürü robot çalışmaları için tasarlanmış gezgin robot platformu. Otomatik Kontrol Ulusal Toplantisi TOK'07 (Turkish National Conference on Automatic Control), 2007. Available as pdf (in turkish).
  • Bayindir L., Sahin E. (2007) A Review of Studies in Swarm Robotics, Turk. J. Elec. Engin., 15, (2007), 115-147.
  • Soysal O., Bahceci E., and Sahin E. (2007), Aggregation in Swarm Robotic Systems: Evolution and Probabilistic Control. Turk. J. Elec. Engin., 15, (2007), 199-225.
2006
  • Sahin E., Girgin S. and Ugur E.,  (2006) Area measurement of large closed regions with a mobile robot. In press. Autonomous Robots, volume 21, 3, pages 255-266. Early version available as METU-CENG-TR-2005-06 in pdf.
  • Turgut A.E., Cakmak M., Sahin E. and Koku B.   (2006) . Ogul-Robot Sistemleri icin Sinyallesme Sistemi Tasarimi (Design of a signaling system for swarm robotic systems), Otomatik Kontrol Ulusal Toplantisi TOK'06 (Turkish National Conference on Automatic Control), 2006. Available as pdf (in turkish).
  • Celikkanat H., Turgut A.E., Sahin E. and Koku B.   (2006) . Ogul-Robot Sistemleri icin Basit Bir Görüntüleme Sistemi  Tasarımı (Design of a simple imaging system for swarm robotic systems), Otomatik Kontrol Ulusal Toplantisi TOK'06 (Turkish National Conference on Automatic Control), 2006. Available as pdf (in turkish).
2005
  • Sahin E. and Spears W. (editors) (2005),  Swarm Robotics: State-of-the-art Survey, 3342, Lecture Notes in Computer Science, Berlin Heidelberg, Springer-Verlag.
  • Sahin E. (2005), Swarm Robotics: From Sources of Inspiration to Domains of Application, In Swarm Robotics: State-of-the-art Survey, Sahin E. and Spears W., editors, 3342, Lecture Notes in Computer Science, pages 10-20, Berlin Heidelberg, Springer-Verlag.  Available as METU-CENG-TR-2005-01in pdf.
  • O. Soysal and E. Sahin (2005). Probabilistic Aggregation Strategies in Swarm Robotic Systems, Proc. of the IEEE Swarm Intelligence Symposium, 2005, Pasadena, California. Available as METU-CENG-TR-2005-02 in pdf.
  • E. Bahceci and E. Sahin (2005). Evolving Aggregation Behaviors for Swarm Robotic Systems: A Systematic Case Study, Proc. of the IEEE Swarm Intelligence Symposium, 2005, Pasadena, California. Available as METU-CENG-TR-2005-03 in pdf.
2004
  • Dorigo M., and Sahin E. (2004). Special Issue: Swarm Robotics Autonomous Robots. 2004, volume 17, pages 111-113.
  • Dorigo M., Trianni V., Sahin E., Gross R., Labella T., Baldassarre, Nolfi S., Deneubourg J.-L., Mondada F., Floreano D., and Gambardella L. (2004). Evolving Self-Organizing Behaviors for a Swarm-Bot, Autonomous Robots. volume 17, pages 223-245.
  • Girgin S.,  Sahin E. (2004) Blind area measurement with mobile robots. In F. Groen, N. Amato, A. Bonarini, E. Yoshida, B. Krose, editor, Proceedings of the 8th Conference on Intelligent Autonomous Systems (IAS-8), pages 37–44. IOS Press. Amsterdam, the Netherlands. An extended version is published as Carnegie Mellon University, Robotics Institute, Technical Report, CMU-RI-TR-2003-42. Available in pdf.
2003
  • Trianni V., Groß R., Labella T.H., Sahin E., Dorigo M. (2003), Evolving Aggregation Behaviors in a Swarm of Robots, In W. Banzhaf, T. Christaller, P. Dittrich, J. T. Kim and J. Ziegler, editors, Advances in Artificial Life - Proceedings of the 7th European Conference on Artificial Life (ECAL), Lecture Notes in Artificial Intelligence 2801, pages 865-874, 2003. Springer Verlag, Heidelberg, Germany
  • Bahceci E., Soysal O., Sahin E. (2003) A Review: Pattern Formation and Adaptation in Multi-Robot Systems. Technical Report CMU-RI-TR-03-43. Carnegie Mellon Univ, Pittsburgh, PA, USA.
  • Soysal O., Bahceci E., and Sahin E. (2003) PES: A system for parallelized fitness evaluation of evolutionary methods. In A. Yazici and C. Sener, editors, Proceedings of the Eighteenth International Symposium on Computer and Information Sciences (ISCIS), Lecture Notes in Computer Science 2869, pages 889-896, 2002. Springer-Verlag, Heidelberg, Germany. Available in pdf.
2002
  • Trianni V., Labella Th.H., Gross R., Sahin E., Dorigo M. and Deneubourg J.-L.(2002). Modeling Pattern Formation in a Swarm of Self-Assembling Robots. IRIDIA-TR-2002-12.
  • Sahin, E. and N.R. Franks (2002). Measurement of Space: From Ants to Robots. Proceedings of WGW 2002: EPSRC/BBSRC International Workshop Biologically-Inspired Robotics: The Legacy ofW. GreyWalter, pages 241-247, Bristol, UK, August 14-16. Available as IRIDIA-TR-2002-11 in pdf (380Kb) .
  • Sahin, E. and N.R. Franks (2002). Simulation of Nest Assessment Behavior by Ant Scouts. In M. Dorigo, G. Di Caro, and M. Sampels, editors, Proceedings of ANTS 2002: From Ants Colonies to Artificial Ants, 3rd International Workshop on Ants Algorithm, Lecture Notes in Computer Science 2463: Ant Algorithms, pages 274-282, Berlin, Germany. Springer-Verlag. Available as IRIDIA-TR-2002-9 in pdf (335Kb) .
  • Sahin, E., Labella Th.H., Trianni V., Deneubourg J.-L., Rasse P, Floreano D., Gambardella L., Mondada F., Nolfi  S., and Dorigo M. (2002). Swarm-bot: Pattern Formation in a Swarm of Self-Assembling Mobile Robots. In A. El Kamel, K. Mellouli, and P. Borne, editors, Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, Hammamet, Tunisia, October 6-9. Piscataway, NJ: IEEE Press. Available as IRIDIA-TR-2002-8 in pdf.
2001
  • Sahin E. (2001). Visual Looming as an Object-Level Range Sensing Method for Mobile Robots.  IRIDIA-TR-2001-20 in pdf (520Kb) .
  • Sahin E. (2001). Towards an on-line neural conditioning model for mobile robots , Bio-inspired Applications of Connectionism, Lecture Notes in Computer Science 2085, 524-530, Springer. Available in pdf (661Kb) .
  • Sahin E. (2001). Book Review: The Age of Spiritual Machines: When Computers Exceed Human Intelligence by Ray Kurzweil, Viking, 1999. 376 pp., ISBN: 0-670-88217-8 IEEE Intelligent Systems, May/June 2001, 80-81. Available in html .
2000
  • Sahin E.(2000). Visual Object Localization for Mobile Robots. PhD thesis, Boston University.
1999
  • Sahin E. and Gaudiano P. (1999). KITE: The Khepera Integrated Testing Environment, Proceedings of the First International Khepera Workshop, Paderborn, Germany, 199-208 Available in gzip'ed postscript (661Kb) and HTML .
  • Sahin E. and Gaudiano P. (1999). A Visual Object Localization System for Mobile Robots, Poster presentation at the USA-Italy Conference on Applied Neural and Cognitive Systems, Boston, MA Available in gzip'ed postscript (183Kb)
  • Sahin E. and Gaudiano P. (1999). Development of a Visual Object Localization Module for Mobile Robots, Proceedings of the Eurobot'99, Third European Workshop on Advanced Mobile Robots, 65-72, Zurich, Switzerland Available in gzip'ed postscript (285Kb)
  • Gaudiano, P., Chang, C., Ecemis, I., Martens, S., Sahin, E., Streilein, W ., Wagner, R. (1999). Neurobotics Lab Research: Learning, Vision and Sonar Recognition with Mobile Robots, Neural Networks in Applications'99, Fourth International Workshop, Otto-von-Guericke University of Magdeburg, Available in gzip'ed postscript (219Kb).
1998
  • Sahin E. and Gaudiano P. (1998). Mobile robot range sensing through visual looming. Proceedings of the ISIC/CIRA/ISAS '98, NIST, 370-375, Gaithersbug, MD Also appears as Boston University Technical Report, Available in CAS/CNS-TR-98-010. gzip'ed postscript (42Kb) and HTML
  • Sahin E., Gaudiano P. and Wagner R. (1998). A comparison of visual looming and sonar as mobile robot range sensors. Proceedings of the Second International Conference on Cognitive And Neural Systems . Boston, MA, May 1998. Available in gzip'ed postscript (13Kb) and HTML
  • Sahin E. and Gaudiano P. (1998). Visual Looming as a range sensor for mobile robots. Proceedings of the Fifth International Conference on Simulation of Adaptive Behavior , 114-119, Zurich, Switzerland. Also appears as Boston University Technical Report, CAS/CNS-TR-98-007. Available in gzip'ed postscript (173Kb) and HTML
1997
  • Sahin E. and Gaudiano P. (1997). Real-time object localization from monocular camera motion. Proceedings of the International Conference on Vision, Recognition, Action: Neural Models of Mind and Machine. Boston, MA, May 1997. Available in gzip'ed postscript (125Kb) and in HTML
1996
  • Guler, M. and Sahin E. (1996). Learning Higher-Order Correlations and Symmetries using a Periodic Activation Function. Fifth Turkish Symposium on Artificial Intelligence and Neural Networks Proceedings , Istanbul Technical University, Istanbul, June 1996. Available in postscript.
    Also reprinted at Elektrik , Vol. 4, Supplement, 21-27, 1996
1995
1994
  • Guler, M. and Sahin E. (1994). A Binary-Input Supervised Neural Unit that Forms Input Dependent Higher-Order Synaptic Correlations. Proceedings of World Congress on Neural Networks, III, 730-735. San Diego, USA, 1994. Available in gzipped postscript (256K) and inHTML
  • Guler, M. and Sahin E. (1994). A New Higher-Order Binary-Input Neural Unit: Learning and Generalizing Effectively via Using Minimal Number of Monomials, Third Turkish Symposium on Artificial Intelligence and Neural Networks Proceedings , 51-60. Middle East Technical University, Ankara, 1994. Available in gzipped postscript (129K) and in HTML Extended version of this work appears as a Master's Thesis Middle East Technical University, Ankara, February 1994. Available in gzipped postscript (332K) and in HTML