55 citations · 64 across the 17 of their papers we have counts for
22 papers
The Minkowski Wrap: A Relativistic Speed Limiter
Nicoletta Prencipe, Başak Sakçak, Steven M. LaValle
In special relativity, a particle can experience constant acceleration, but at the same time, its motion is constrained by the velocity limit imposed by the speed of light . Ins…
An Information-Space Perspective to Scene Graph Sufficiency for Robotic Task Planning
Başak Sakçak, Francesco Verdoja
Planning in complex environments requires task specifications grounded in representations that capture objects, relations, and affordances; scene graphs meet this need, but their s…
Planning Smooth and Safe Control Laws for a Unicycle Robot Among Obstacles
Aref Amiri, Basak Sakcak, Steven M. LaValle
This paper presents a framework for safe navigation of a unicycle point robot to a goal position in an environment populated with obstacles from almost any admissible state, consid…
Relating Reinforcement Learning to Dynamic Programming-Based Planning
Filip V. Georgiev, Kalle G. Timperi, Başak Sakçak +1
This paper bridges some of the gap between optimal planning and reinforcement learning (RL), both of which share roots in dynamic programming applied to sequential decision making…
Mobile Robot Localization Using a Novel Whisker-Like Sensor
Prasanna K. Routray, Basak Sakcak, Steven M. LaValle +1
Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or lo…
Unwinding Rotations Reduces VR Sickness in Nonsimulated Immersive Telepresence
Filip Kulisiewicz, Basak Sakcak, Evan G. Center +4
Immersive telepresence, when a user views the video stream of a camera in a remote environment using a Head Mounted Display (HMD), has great potential to improve the se…
Sharing but Not Caring: Similar Outcomes for Shared Control and Switching Control in Telepresence-Robot Navigation
Juho Kalliokoski, Evan G. Center, Steven M. LaValle +2
Telepresence robots enable users to interact with remote environments, but efficient and intuitive navigation remains a challenge. In this work, we developed and evaluated a shared…
Optimal Control of Sensor-Induced Illusions on Robotic Agents
Lorenzo Medici, Steven M. LaValle, Basak Sakcak
This paper presents a novel problem of creating and regulating localization and navigation illusions considering two agents: a receiver and a producer. A receiver is moving on a pl…
Limits of specifiability for sensor-based robotic planning tasks
Basak Sakcak, Dylan A. Shell, Jason M. O'Kane
There is now a large body of techniques, many based on formal methods, for describing and realizing complex robotics tasks, including those involving a variety of rich goals and ti…
Minimally sufficient structures for information-feedback policies
Basak Sakcak, Vadim K. Weinstein, Kalle G. Timperi +1
In this paper, we consider robotic tasks which require a desirable outcome to be achieved in the physical world that the robot is embedded in and interacting with. Accomplishing th…
From Virtual Reality to the Emerging Discipline of Perception Engineering
Steven M. LaValle, Evan G. Center, Timo Ojala +6
This paper makes the case that a powerful new discipline, which we term perception engineering, is steadily emerging. It follows from a progression of ideas that involve creating i…
A Mathematical Characterization of Minimally Sufficient Robot Brains
Basak Sakcak, Kalle G. Timperi, Vadim Weinstein +1
This paper addresses the lower limits of encoding and processing the information acquired through interactions between an internal system (robot algorithms or software) and an exte…
The Limits of Learning and Planning: Minimal Sufficient Information Transition Systems
Basak Sakcak, Vadim Weinstein, Steven M. LaValle
In this paper, we view a policy or plan as a transition system over a space of information states that reflect a robot's or other observer's perspective based on limited sensing, m…
Bang-Bang Boosting of RRTs
Alexander J. LaValle, Basak Sakcak, Steven M. LaValle
This paper presents methods for dramatically improving the performance of sampling-based kinodynamic planners. The key component is the first-known complete, exact steering method…
Leaning-Based Control of an Immersive-Telepresence Robot
Joona Halkola, Markku Suomalainen, Basak Sakcak +5
In this paper, we present an implementation of a leaning-based control of a differential drive telepresence robot and a user study in simulation, with the goal of bringing the same…
Safe Motion Planning for a Mobile Robot Navigating in Environments Shared with Humans
Basak Sakcak, Luca Bascetta
In this paper, a robot navigating an environment shared with humans is considered, and a cost function that can be exploited in , a randomized sampling-based r…
An Enactivist-Inspired Mathematical Model of Cognition
Vadim Weinstein, Basak Sakcak, Steven M. LaValle
We formulate five basic tenets of enactivist cognitive science that we have carefully identified in the relevant literature as the main underlying principles of that philosophy. We…
A Study of Preference and Comfort for Users Immersed in a Telepresence Robot
Adhi Widagdo, Markku Suomalainen, Basak Sakcak +5
In this paper, we show that unwinding the rotations of a user immersed in a telepresence robot is preferred and may increase the feeling of presence or "being there". By immersive…
Visibility-Inspired Models of Touch Sensors for Navigation
Kshitij Tiwari, Basak Sakcak, Prasanna Routray +2
This paper introduces mathematical models of \sensors\ for mobile robots based on visibility. Serving a purpose similar to the pinhole camera model for computer vision, the introdu…
HI-DWA: Human-Influenced Dynamic Window Approach for Shared Control of a Telepresence Robot
Juho Kalliokoski, Basak Sakcak, Markku Suomalainen +4
This paper considers the problem of enabling the user to modify the path of a telepresence robot. The robot is capable of autonomously navigating to a goal predefined by the user,…
Unwinding Rotations Improves User Comfort with Immersive Telepresence Robots
Markku Suomalainen, Basak Sakcak, Adhi Widagdo +5
We propose unwinding the rotations experienced by the user of an immersive telepresence robot to improve comfort and reduce VR sickness of the user. By immersive telepresence we re…
Sampling-based optimal kinodynamic planning with motion primitives
Basak Sakcak, Luca Bascetta, Gianni Ferretti +1
This paper proposes a novel sampling-based motion planner, which integrates in RRT* (Rapidly exploring Random Tree star) a database of pre-computed motion primitives to alleviate i…