33 citations · 128 across the 19 of their papers we have counts for
22 papers
ScanSTL: Parallel Robustness Evaluation for Signal Temporal Logic
Gokhan Alcan
Repeated evaluation and differentiation of Signal Temporal Logic (STL) robustness can become a computational bottleneck in robot planning and control. Sequential temporal recurrenc…
Robust Nonprehensile Object Transport with Quadruped Robots
Ainoor Teimoorzadeh, Riccardo Pretto, Mario Selvaggio +2
In this paper, we present a robust nonprehensile object transportation framework for quadruped robots. An uncertainty-aware trajectory optimization method generates object motions…
Physics Residual Dynamics and Reduced Order Whole-Body Planning for Obstacle Aware Human Robot Cloth CoTransportation
Moein Forouhar, Kosar Behnia, Anirvan Dutta +5
Human--robot co-transportation of deformable objects requires predicting object deformation during motion, since obstacle clearance depends on both the grasp points and the unactua…
Deformable Object Manipulation under Partial Observability via Real-Time Full-Shape Estimation
Kosar Behnia, Ville Kyrki, Gokhan Alcan
Manipulating deformable objects (DOs) is challenging due to their high-dimensional state space, underactuated dynamics, and partial observability. In this paper, we propose cRVAE,…
Adaptive Shared Control with Online Bounded-Rational Human Behavior Estimation
Henry Ascencio Trejo, Roel Pieters, Gokhan Alcan
This work considers adaptive shared human-robot control for nonlinear control-affine systems, where the assumption of a fully rational human is relaxed and the robot adapts its ass…
Receding-Horizon Nullspace Optimization for Actuation-Aware Control Allocation in Omnidirectional UAVs
Riccardo Pretto, Mahmoud Hamandi, Abdullah Mohamed Ali +3
Fully actuated omnidirectional UAVs enable independent control of forces and torques along all six degrees of freedom, broadening the operational envelope for agile flight and aeri…
Adaptive Modular Geometric Control of Robotic Manipulators
Mahdi Hejrati, Amir Hossein Barjini, Gokhan Alcan +1
This paper develops an adaptive modular geometric control framework for robotic manipulators with uncertain inertial parameters. The manipulator is decomposed into rigid-body and j…
Trajectory Planning and Control for Robotic Magnetic Manipulation
Ogulcan Isitman, Gokhan Alcan, Ville Kyrki
Robotic magnetic manipulation offers a minimally invasive approach to gastrointestinal examinations through capsule endoscopy. However, controlling such systems using external perm…
Data-driven Diffusion Models for Enhancing Safety in Autonomous Vehicle Traffic Simulations
Jinxiong Lu, Shoaib Azam, Gokhan Alcan +1
Safety-critical traffic scenarios are integral to the development and validation of autonomous driving systems. These scenarios provide crucial insights into vehicle responses unde…
Constrained Trajectory Optimization for Hybrid Dynamical Systems
Pietro Noah Crestaz, Gokhan Alcan, Ville Kyrki
Hybrid dynamical systems pose significant challenges for effective planning and control, especially when additional constraints such as obstacle avoidance, state boundaries, and ac…
Learning Transparent Reward Models via Unsupervised Feature Selection
Daulet Baimukashev, Gokhan Alcan, Kevin Sebastian Luck +1
In complex real-world tasks such as robotic manipulation and autonomous driving, collecting expert demonstrations is often more straightforward than specifying precise learning obj…
Automated Feature Selection for Inverse Reinforcement Learning
Daulet Baimukashev, Gokhan Alcan, Ville Kyrki
Inverse reinforcement learning (IRL) is an imitation learning approach to learning reward functions from expert demonstrations. Its use avoids the difficult and tedious procedure o…
The Role of Higher-Order Cognitive Models in Active Learning
Oskar Keurulainen, Gokhan Alcan, Ville Kyrki
Building machines capable of efficiently collaborating with humans has been a longstanding goal in artificial intelligence. Especially in the presence of uncertainties, optimal coo…
Challenges of Data-Driven Simulation of Diverse and Consistent Human Driving Behaviors
Kalle Kujanpää, Daulet Baimukashev, Shibei Zhu +4
Building simulation environments for developing and testing autonomous vehicles necessitates that the simulators accurately model the statistical realism of the real-world environm…
Benchmarking the Sim-to-Real Gap in Cloth Manipulation
David Blanco-Mulero, Oriol Barbany, Gokhan Alcan +3
Realistic physics engines play a crucial role for learning to manipulate deformable objects such as garments in simulation. By doing so, researchers can circumvent challenges such…
Fading Expert Guidance: Bridging Model-Based and Learning-Based Control for Abortable Autonomous Overtaking
Jinxiong Lu, Gokhan Alcan, Ville Kyrki
Overtaking on two-lane roads is a safety-critical decision-making problem for autonomous vehicles, since oncoming traffic may force the ego vehicle to abort and merge back to its o…
QDP: Learning to Sequentially Optimise Quasi-Static and Dynamic Manipulation Primitives for Robotic Cloth Manipulation
David Blanco-Mulero, Gokhan Alcan, Fares J. Abu-Dakka +1
Pre-defined manipulation primitives are widely used for cloth manipulation. However, cloth properties such as its stiffness or density can highly impact the performance of these pr…
Constrained Trajectory Optimization on Matrix Lie Groups via Lie-Algebraic Differential Dynamic Programming
Gokhan Alcan, Fares J. Abu-Dakka, Ville Kyrki
Matrix Lie groups are an important class of manifolds commonly used in control and robotics, and optimizing control policies on these manifolds is a fundamental problem. In this wo…
Learning Based High-Level Decision Making for Abortable Overtaking in Autonomous Vehicles
Ehsan Malayjerdi, Gokhan Alcan, Eshagh Kargar +3
Autonomous vehicles are a growing technology that aims to enhance safety, accessibility, efficiency, and convenience through autonomous maneuvers ranging from lane change to overta…
Learning Visual Feedback Control for Dynamic Cloth Folding
Julius Hietala, David Blanco-Mulero, Gokhan Alcan +1
Robotic manipulation of cloth is a challenging task due to the high dimensionality of the configuration space and the complexity of dynamics affected by various material properties…
Planning for Safe Abortable Overtaking Maneuvers in Autonomous Driving
Jiyo Palatti, Andrei Aksjonov, Gokhan Alcan +1
Overtaking is one of the most challenging tasks in driving, and the current solutions to autonomous overtaking are limited to simple and static scenarios. In this paper, we present…
Differential Dynamic Programming with Nonlinear Safety Constraints Under System Uncertainties
Gokhan Alcan, Ville Kyrki
Safe operation of systems such as robots requires them to plan and execute trajectories subject to safety constraints. When those systems are subject to uncertainties in their dyna…