5 citations · 13 across the 15 of their papers we have counts for
15 papers
Control Barrier Corridors: From Safety Functions to Safe Sets
Ömür Arslan, Nikolay Atanasov
Safe autonomy is a critical requirement and a key enabler for robots to operate safely in unstructured complex environments. Control barrier functions and safe motion corridors are…
Action-Aware Pro-Active Safe Exploration for Mobile Robot Mapping
Aykut İşleyen, René van de Molengraft, Ömür Arslan
Safe autonomous exploration of unknown environments is an essential skill for mobile robots to effectively and adaptively perform environmental mapping for diverse critical tasks.…
Adaptive Dual-Headway Unicycle Pose Control and Motion Prediction for Optimal Sampling-Based Feedback Motion Planning
Aykut İşleyen, Abhidnya Kadu, René van de Molengraft +1
Safe, smooth, and optimal motion planning for nonholonomically constrained mobile robots and autonomous vehicles is essential for achieving reliable, seamless, and efficient autono…
Key-Scan-Based Mobile Robot Navigation: Integrated Mapping, Planning, and Control using Graphs of Scan Regions
Dharshan Bashkaran Latha, Ömür Arslan
Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, an…
Total Turning and Motion Range Prediction for Safe Unicycle Control
Abdulla Tarshahani, Aykut İşleyen, Ömür Arslan
Safe and smooth motion control is essential for mobile robots when performing various automation tasks around obstacles, especially in the presence of people and other mobile robot…
Graph-Theoretic Bézier Curve Optimization over Safe Corridors for Safe and Smooth Motion Planning
Soufyan Zayou, Ömür Arslan
As a parametric motion representation, Bézier curves have significant applications in polynomial trajectory optimization for safe and smooth motion planning of various robotic syst…
Adaptive Headway Motion Control and Motion Prediction for Safe Unicycle Motion Design
Aykut İşleyen, Nathan van de Wouw, Ömür Arslan
Differential drive robots that can be modeled as a kinematic unicycle are a standard mobile base platform for many service and logistics robots. Safe and smooth autonomous motion a…
Vandermonde Trajectory Bounds for Linear Companion Systems
Ömür Arslan, Aykut İşleyen
Fast and accurate safety assessment and collision checking are essential for motion planning and control of highly dynamic autonomous robotic systems. Informative, intuitive, and e…
Time Governors for Safe Path-Following Control
Ömür Arslan
Safe and smooth robot motion around obstacles is an essential skill for autonomous robots, especially when operating around people and other robots. Conventionally, due to real-tim…
Feedback Motion Prediction for Safe Unicycle Robot Navigation
Aykut İşleyen, Nathan van de Wouw, Ömür Arslan
As a simple and robust mobile robot base, differential drive robots that can be modelled as a kinematic unicycle find significant applications in logistics and service robotics in…
From Low to High Order Motion Planners: Safe Robot Navigation using Motion Prediction and Reference Governor
Aykut İşleyen, Nathan van de Wouw, Ömür Arslan
Safe navigation around obstacles is a fundamental challenge for highly dynamic robots. The state-of-the-art approach for adapting simple reference path planners to complex robot dy…
Adaptive Bézier Degree Reduction and Splitting for Computationally Efficient Motion Planning
Ömür Arslan, Aron Tiemessen
As a parametric polynomial curve family, Bézier curves are widely used in safe and smooth motion design of intelligent robotic systems from flying drones to autonomous vehicles to…
Coordinated Robot Navigation via Hierarchical Clustering
Omur Arslan, Dan P. Guralnik, Daniel E. Koditschek
We introduce the use of hierarchical clustering for relaxed, deterministic coordination and control of multiple robots. Traditionally an unsupervised learning method, hierarchical…
Anytime Hierarchical Clustering
Omur Arslan, Daniel E. Koditschek
We propose a new anytime hierarchical clustering method that iteratively transforms an arbitrary initial hierarchy on the configuration of measurements along a sequence of trees we…
Discriminative Measures for Comparison of Phylogenetic Trees
Omur Arslan, Dan P. Guralnik, Daniel E. Koditschek
In this paper we introduce and study three new measures for efficient discriminative comparison of phylogenetic trees. The NNI navigation dissimilarity counts the steps a…