55 citations · 64 across the 17 of their papers we have counts for
9 papers · 1 filter
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…