Publications

• Ugur E., and Sahin, E. (2010) Traversability: A Case Study for Learning and Perceiving Affordances in Robots. Adaptive Behavior journal. Available as: pdf. 18 no. 3-4 258-284.

• Celikkanat H., and Sahin, E. (2010) Steering Self-organized Robot Flocks through Externally Guided Individuals. Neural Computing and Applications journal. Volume 19, Number 6, 849-865. Available as: pdf.

• Gokce, F., and Sahin, E. (2010) The pros and cons of flocking in the long-range "migration" of mobile robot swarms. Theoretical Computer Science journal. Available as: pdf.

• E. Ugur, E. Oztop, E. Sahin (2009). Affordance learning from range data for multi-step planning. Proc. of the Ninth Intl. Conf. on Epigenetic Robotics (Epirob'09), Lund University Cognitive Science Studies, 146, pp. 177-184.Earlier version also available as: pdf.

• Turgut A.E., Celikkanat H., Gokce, F. and Sahin, E. (2008) . Self-Organized Flocking in Mobile Robot Swarms. Swarm Intelligence, vol 2, no:2-4, pp. 97-120. Earlier version also available as: pdf.

• 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, No. 4, 447-472. Early version available as METU-CENG-TR-2006-02 in pdf. Also available as web page

• Sahin E. and Spears W. (editors) (2005), Swarm Robotics: State-of-the-art Survey, 3342, Lecture Notes in Computer Science, Berlin Heidelberg, Springer-Verlag.

• 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.

• 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.

Publications sorted by year:

• 2012-2010: 2012, 2011, 2010
• 2009-2000: 2009, 2008, 2007, 2006, 2005, 2004, 2003, 2002, 2001, 2000,
• 2000-1997: 1999, 1998, 1997

[top][back] 2012

• Uyanik K. F., Yuruten O., Kalkan S., Sahin E. “Towards Context-aware Adjective Learning”. ICRA 2012 Future of HRI Workshop, MI, USA.

• J. Ralli, J. Diaz, E. Ros, S. Kalkan, N. Krueger, "Disparity Disambiguation by Fusion of Signal- and Symbolic-Level Information", Machine Vision and Applications, 23(1):65-77, 2012.

[top][back] 2011

• Bozcuoglu, A.K., Sahin, E., "Traversability on a simple humanoid: What did I just trip over?", 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 701-706, 26-28 Oct. 2011. IEEE Xplore

[top][back] 2010

• E. Baseski, N. Pugeault, S. Kalkan, L. Bodenhagen, J. Piater and N. Kruger, "Using Multi-Modal 3D Contours and Their Relations for Vision and Robotics", Journal of Visual Communication and Image Representation, 21(8):850-864, 2010.

• Ugur E., and Sahin, E. (2010) Traversability: A Case Study for Learning and Perceiving Affordances in Robots. Adaptive Behavior journal. Available as: pdf. 18 no. 3-4 258-284.

• Celikkanat H., and Sahin, E. (2010) Steering Self-organized Robot Flocks through Externally Guided Individuals. Neural Computing and Applications journal. Volume 19, Number 6, 849-865. Available as: pdf.

• Gokce, F., and Sahin, E. (2010) The pros and cons of flocking in the long-range "migration" of mobile robot swarms. Theoretical Computer Science journal. Available as: pdf.

• Dag N., Atil I., Kalkan S. and Sahin E. (2010) Learning Affordances for Categorizing Objects and Their Properties International Conference on Pattern Recognition Available as: pdf

• Atil I., Dag N., Kalkan S. and Sahin E. (2010) Affordances and Emergence of Concepts 10th International Conference on Epigenetic Robotics Available as: pdf

• Akgun B., Tunaoglu D. and Sahin E. (2010) Action Recognition through an Action Generation Mechanism. 10th International Conference on Epigenetic Robotics Available as: pdf

[top][back] 2009

• E. Ugur, E. Oztop, E. Sahin. Affordance learning from range data for multi-step planning. Proc. of Epirob'09. Earlier version also available as: pdf

• E. Sahin, S.T. Erdogan (2009). Towards linking affordances with mirror/canonical neurons. Presented at ISCIS Special Session on Cognitive Cybernetics and Brain Modeling. Earlier version also available as: pdf.

• E. Ugur, E. Sahin, E. Oztop (2009). Predicting future object states using learned affordances. Presented at ISCIS Special Session on Cognitive Cybernetics and Brain Modeling. Earlier version also available as: pdf.

• B. Akgun, N. Dag, T. Bilal, I. Atil, E. Sahin. (2009) Unsupervised Learning of Affordance Relations on a Humanoid Robot. Proc. of ISCIS'09. Earlier version also available as: pdf.

• E. Ugur, E. Oztop, E. Sahin (2009). Learning Object Affordances for Planning. Presented at ICRA'09 Workshop on Sensorimotor Learning. Earlier version also available as: pdf.

• E. Sahin, H. Celikkanat (2009). A Critical review of Flocking Models. Presented at ECAL'09 Workshop Agent connectivity: the role of cooperation in the regulation of the behavior of animals and robots. Available as: pdf

• Gokce F. and Sahin, E. (2009). To flock or not to flock: Pros and cons of flocking in long-range "migration" of mobile robot swarms. Proc. of The Eighth International Conference on Autonomous Agents and Multiagent Systems (AAMAS'09), pp. 65-72. Earlier version also available as: pdf.

• Bayindir L. and Sahin, E. (2009). Modeling Self-Organized Aggregation in Swarm Robotic Systems. Proc. of the IEEE Swarm Intelligence Symposium (SIS'09), pp. 88-95. Earlier version also available as: pdf.

• Celikkanat H., Turgut A.E., and Sahin, E. (2009). Control of a Mobile Robot via Informed Robots. Proc. of 9th International Symposium on Distributed Autonomous Robotic Systems (DARS’08), pp. 215-225. Earlier version also available as: pdf.

[top][back] 2008

• Turgut A.E., Çelikkanat H., Gökçe F. and Şahin E. (2008) .Self-Organized Flocking with a Mobile Robot Swarm. Proc. of 7th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2008), Padgham, Parkes, Müller and Parsons (eds.), May, 12-16., 2008, Estoril, Portugal, pp. 39-46. Available in pdf. Early version available as technical report METU-CENG-TR-2008-01 in pdf.

• Turgut A.E., Huepe, C, Celikkanat H., Gokce, F. and Sahin, E. (2008) . Modelling Phase Transition in Self-Organized Mobile Robot Flocks. Proceedings of the 6th International Conference on Ant Colony Optimization and Swarm Intelligence (ANTS’08). LNCS vol 5217, pages 108-119. Earlier version also available as: pdf.

• Sahin, E. and Winfield A.F.T. (2008) . Special Issue on Swarm Robotics. Swarm Intelligence, vol 2, no: 2-3.

• Turgut A.E., Celikkanat H., Gokce, F. and Sahin, E. (2008) . Self-Organized Flocking in Mobile Robot Swarms. Swarm Intelligence, vol 2, no:2-4, pp. 97-120. Earlier version also available as: pdf.

• E. Rome, L. Paletta, E. Sahin, G. Dorffner, J. Hertzberg, R. Breithaupt, G. Fritz, J. Irran, F. Kintzler, C. Loerken, S. May, E. Ugur (2008) . The MACS project: An approach to affordance-based robot control, In: Towards Affordance-based Robot Control, Proceedings of Dagstuhl Seminar 06231, Springer-Verlag, LNAI 4760, E. Rome, J. Hertzberg, and G. Dorffner (eds.), pp. 173-210, February 2008.

• Sahin E., Girgin S., Bayindir L. and Turgut A.E. (2008) . Swarm Robotics, in Swarm Intelligence - Introduction and Applications (editors: C. Blum and D. Merkle), Springer, pp. 87-100. Earlier version also available as: pdf.

• Turgut A.E., Celikkanat H., Gokce, F. and Sahin, E. (2008) . Self-Organized Flocking with a Mobile Robot Swarm. In Proc. of the 7th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS'08), Padgham, Parkes, Muller and Parsons (eds.), pp. 39-46. Earlier version also available as: pdf | ppt.

• Dogar M.R., Ugur E. Sahin, E. and Cakmak M. (2008) . Using Learned Affordances for Robotic Behavior Development. In Proc. of IEEE International Conference on Robotics and Automation (ICRA’08), pp. 3802-3807. Earlier version also available as: pdf.

[top][back] 2007

• Turgut A.E., Gokce F., Celikkanat H., Bayindir L. and Sahin E. (2007) . Kobot: A mobile robot designed specifically for swarm robotics research. Technical report available as METU-CENG-TR-2007-05 in pdf.

• Cakmak M., Dogar M.R., Ugur E. and Sahin E. (2007), Affordances as a Framework for Robot Control.International Workshop on Epigenetic Robotics (EpiRob) 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. Available as technical report METU-CENG-TR-2007-02 in pdf. Also available as web page.

• 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), pages 259-264, 2007. Available as pdf (in Turkish).

• 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.

• 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, No. 4, 447-472. Early version available as METU-CENG-TR-2006-02 in pdf. Also available as web page

• 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. Early version available as METU-CENG-TR-2006-03 in pdf. Also available as web page.

[top][back] 2006

• 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).
• Sahin E., Girgin S. and Ugur E. (2006) Area measurement of large closed regions with a mobile robot. Autonomous Robots, Vol: 21, No: 3, November 2006, pp. 255-266. Early version available as METU-CENG-TR-2005-06 in pdf.

[top][back] 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-2005-01 in 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.

[top][back] 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 37Â--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.

[top][back] 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.

[top][back] 2002 (Before foundation of the lab)

• 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.

[top][back] 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 .

[top][back] 2000

• Sahin E.(2000). Visual Object Localization for Mobile Robots. PhD thesis, Boston University.

[top][back] 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).

[top][back] 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

[top][back] 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

[top][back] 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

[top][back] 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 in HTML

• 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

Publications sorted by the following topics:

• Swarm Intelligence

• Cognitive Robotics

• Vision

[top][back] Swarm Intelligence

• Celikkanat H., and Sahin, E. (2010) Steering Self-organized Robot Flocks through Externally Guided Individuals. Neural Computing and Applications journal. Available as: pdf.

• Gokce, F., and Sahin, E. (2010) The pros and cons of flocking in the long-range "migration" of mobile robot swarms. Theoretical Computer Science journal. Available as: pdf.

• E. Sahin, H. Celikkanat (2009). A Critical review of Flocking Models. Presented at ECAL'09 Workshop Agent connectivity: the role of cooperation in the regulation of the behavior of animals and robots. Available as: pdf

• Gokce F. and Sahin, E. (2009). To flock or not to flock: Pros and cons of flocking in long-range "migration" of mobile robot swarms. Proc. of The Eighth International Conference on Autonomous Agents and Multiagent Systems (AAMAS'09), pp. 65-72. Earlier version also available as: pdf.

• Bayindir L. and Sahin, E. (2009). Modeling Self-Organized Aggregation in Swarm Robotic Systems. Proc. of the IEEE Swarm Intelligence Symposium (SIS'09), pp. 88-95. Earlier version also available as: pdf.

• Celikkanat H., Turgut A.E., and Sahin, E. (2009) . [http//dx.doi.org/10.1007/978-3-642-00644-9_19 Control of a Mobile Robot via Informed Robots]. Proc. of 9th International Symposium on Distributed Autonomous Robotic Systems (DARS’08), pp. 215-225. Earlier version also available as: pdf.

• Turgut A.E., Çelikkanat H., Gökçe F. and Şahin E. (2008) .Self-Organized Flocking with a Mobile Robot Swarm. Proc. of 7th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2008), Padgham, Parkes, Müller and Parsons (eds.), May, 12-16., 2008, Estoril, Portugal, pp. 39-46. Available in pdf. Early version available as technical report METU-CENG-TR-2008-01 in pdf.

• Turgut A.E., Huepe, C, Celikkanat H., Gokce, F. and Sahin, E. (2008) . Modelling Phase Transition in Self-Organized Mobile Robot Flocks. Proceedings of the 6th International Conference on Ant Colony Optimization and Swarm Intelligence (ANTS’08). LNCS vol 5217, pages 108-119. Earlier version also available as: pdf.

• Sahin, E. and Winfield A.F.T. (2008) . Special Issue on Swarm Robotics. Swarm Intelligence, vol 2, no: 2-3.

• Turgut A.E., Celikkanat H., Gokce, F. and Sahin, E. (2008) . Self-Organized Flocking in Mobile Robot Swarms. Swarm Intelligence, vol 2, no:2-4, pp. 97-120. Earlier version also available as: pdf.

• Turgut A.E., Gokce F., Celikkanat H., Bayindir L. and Sahin E. (2007) . Kobot: A mobile robot designed specifically for swarm robotics research. Technical report available as METU-CENG-TR-2007-05 in pdf.

• 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), pages 259-264, 2007. Available as pdf (in Turkish).

• 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).

• Sahin E., Girgin S. and Ugur E. (2006) Area measurement of large closed regions with a mobile robot. Autonomous Robots, Vol: 21, No: 3, November 2006, pp. 255-266. Early version available as METU-CENG-TR-2005-06 in pdf.

• 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-2005-01 in 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.

• 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 37Â--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.

• 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.

• 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.

[top][back] Cognitive Robotics

• Uyanik K. F., Yuruten O., Kalkan S., Sahin E. “Towards Context-aware Adjective Learning”. ICRA 2012 Future of HRI Workshop, MI, USA.

• Bozcuoglu, A.K., Sahin, E., "Traversability on a simple humanoid: What did I just trip over?", 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 701-706, 26-28 Oct. 2011. IEEE Xplore

• Atil I., Dag N., Kalkan S. and Sahin E. (2010) Affordances and Emergence of Concepts 10th International Conference on Epigenetic Robotics Available as: pdf

• Akgun B., Tunaoglu D. and Sahin E. (2010) Action Recognition through an Action Generation Mechanism. 10th International Conference on Epigenetic Robotics Available as: pdf

• Dag N., Atil I., Kalkan S. and Sahin E. (2010) Learning Affordances for Categorizing Objects and Their Properties International Conference on Pattern Recognition Available as: pdf

• Ugur E., and Sahin, E. (in press) Traversability: A Case Study for Learning and Perceiving Affordances in Robots. Adaptive Behavior journal. Available as: pdf.

• E. Ugur, E. Oztop, E. Sahin (accepted). Affordance learning from range data for multi-step planning. Proc. of Epirob'09.Earlier version also available as: pdf

• E. Sahin, S.T. Erdogan (2009). Towards linking affordances with mirror/canonical neurons. Presented at ISCIS Special Session on Cognitive Cybernetics and Brain Modeling. Earlier version also available as: pdf.

• E. Ugur, E. Sahin, E. Oztop (2009). Predicting future object states using learned affordances. Presented at ISCIS Special Session on Cognitive Cybernetics and Brain Modeling. Earlier version also available as: pdf.

• B. Akgun, N. Dag, T. Bilal, I. Atil, E. Sahin. (2009) Unsupervised Learning of Affordance Relations on a Humanoid Robot. Proc. of ISCIS'09. Earlier version also available as: pdf.

• E. Ugur, E. Oztop, E. Sahin (2009). Learning Object Affordances for Planning. Presented at ICRA'09 Workshop on Sensorimotor Learning. Earlier version also available as: pdf.

• E. Rome, L. Paletta, E. Sahin, G. Dorffner, J. Hertzberg, R. Breithaupt, G. Fritz, J. Irran, F. Kintzler, C. Loerken, S. May, E. Ugur (2008) . The MACS project: An approach to affordance-based robot control, In: Towards Affordance-based Robot Control, Proceedings of Dagstuhl Seminar 06231, Springer-Verlag, LNAI 4760, E. Rome, J. Hertzberg, and G. Dorffner (eds.), pp. 173-210, February 2008.

• Sahin E., Girgin S., Bayindir L. and Turgut A.E. (2008) . Swarm Robotics, in Swarm Intelligence - Introduction and Applications (editors: C. Blum and D. Merkle), Springer, pp. 87-100. Earlier version also available as: pdf.

• Turgut A.E., Celikkanat H., Gokce, F. and Sahin, E. (2008) . Self-Organized Flocking with a Mobile Robot Swarm. In Proc. of the 7th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS'08), Padgham, Parkes, Muller and Parsons (eds.), pp. 39-46. Earlier version also available as: pdf | ppt.

• Dogar M.R., Ugur E. Sahin, E. and Cakmak M. (2008) . Using Learned Affordances for Robotic Behavior Development. In Proc. of IEEE International Conference on Robotics and Automation (ICRA’08), pp. 3802-3807. Earlier version also available as: pdf.

• Dogar M.R., Ugur E. Sahin, E. and Cakmak M. (2008) . Using Learned Affordances for Robotic Behavior Development. In Proc. of IEEE International Conference on Robotics and Automation (ICRA’08), pp. 3802-3807. Earlier version also available as: pdf.

• Cakmak M., Dogar M.R., Ugur E. and Sahin E. (2007), Affordances as a Framework for Robot Control.International Workshop on Epigenetic Robotics (EpiRob) 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. Available as technical report METU-CENG-TR-2007-02 in pdf. 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.

• 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. Accepted to Adaptive Behavior. Early version available as METU-CENG-TR-2006-02 in pdf.

• 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. Early version available as METU-CENG-TR-2006-03 in pdf. Also available as web page.

• 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 .

• Sahin E.(2000). Visual Object Localization for Mobile Robots. PhD thesis, Boston University.

• 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).

• 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

• 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

• 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

• 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 in HTML

• 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

[top][back] Vision

• J. Ralli, J. Diaz, E. Ros, S. Kalkan, N. Krueger, "Disparity Disambiguation by Fusion of Signal- and Symbolic-Level Information", Machine Vision and Applications, 23(1):65-77, 2012.

• E. Baseski, N. Pugeault, S. Kalkan, L. Bodenhagen, J. Piater and N. Kruger, "Using Multi-Modal 3D Contours and Their Relations for Vision and Robotics", Journal of Visual Communication and Image Representation, 21(8):850-864, 2010.

• Atil I., Dag N., Kalkan S. and Sahin E. (2010) Affordances and Emergence of Concepts 10th International Conference on Epigenetic Robotics Available as: pdf

• Dag N., Atil I., Kalkan S. and Sahin E. (2010) Learning Affordances for Categorizing Objects and Their Properties International Conference on Pattern Recognition Available as: pdf

• Sahin E. (2001). Visual Looming as an Object-Level Range Sensing Method for Mobile Robots. IRIDIA-TR-2001-20 in pdf (520Kb) .

• Sahin E.(2000). Visual Object Localization for Mobile Robots. PhD thesis, Boston University.

• 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)

• 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

• 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

• Celikkanat, DARS 2009