Publications

Authors: Type:

2022

  • K. Bektas and H. I. Bozma, “APF-RL: Safe Mapless Navigation in Unknown Environments,” in (to appear) IEEE Int’l Conference on Robotics and Automation, 2022.
    [Bibtex] 
    @INPROCEEDINGS{BekBozICRA2022,
  title={APF-RL: Safe Mapless
Navigation in Unknown Environments},
  author={ K. Bektas and H. I. Bozma},
 booktitle={(to appear) IEEE Int'l Conference on Robotics and Automation}, 
  year={2022},
  pages = {},
}
  • M. Ürkmez and I. H. Bozma, “Detecting 3D Hand Pointing Direction from RGB-D Data in Wide-Ranging HRI Scenarios,” in Proceedings of the 2022 ACM/IEEE International Conference on Human-Robot Interaction, 2022, p. 441–450.
    [Bibtex] 
    @inproceedings{10.5555/3523760.3523819,
author = {\"{U}rkmez, Mirhan and Bozma, H. I\c{s}\i{}l},
title = {Detecting 3D Hand Pointing Direction from RGB-D Data in Wide-Ranging HRI Scenarios},
year = {2022},
publisher = {IEEE Press},
abstract = {This paper addresses the detection of 3D hand pointing direction from RGB-D data by a mobile robot. Considering ubiquitous forms of pointing gestures, the 3D pointing direction is assumed to be inferable from hand data only. First, a novel sequential network-based learning model is developed for the simultaneous detection of hands and humans in RGB data. Differing from previous work, its performance is shown to be both accurate and fast. Following, a new geometric method for estimating the 3D pointing direction from depth data of the detected hand is presented along with a mathematical analysis of sensor noise sensitivity. Two new data sets for pointing gesture classification and continuous 3D pointing direction with varying proximity, arm pose and background are presented. As there are no such data sets to the best of our knowledge, both will be publicly available. Differing from previous work, the robot is able to estimate the 3D hand direction both accurately and fast regardless of hand proximity, background variability or the detectability of specific human parts - as demonstrated by end-to-end experimental results.},
booktitle = {Proceedings of the 2022 ACM/IEEE International Conference on Human-Robot Interaction},
pages = {441–450},
numpages = {10},
keywords = {human robot communication, pointing data sets, deictic pointing, continuous pointing direction},
location = {Sapporo, Hokkaido, Japan},
series = {HRI '22}
}

2020

  • K. Karacan, J. T. Meyer, H. I. Bozma, R. Gassert, and E. Samur, “An Environment Recognition and Parameterization System for Shared-Control of a Powered Lower-Limb Exoskeleton,” in IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2020), 2020.
    [Bibtex] 
    @INPROCEEDINGS{patbozICRA2020,
  title={An Environment Recognition and Parameterization System for Shared-Control of a Powered Lower-Limb Exoskeleton},
  author={ Karacan, K.  and J.T. Meyer and H. I. Bozma and R. Gassert and E. Samur},
 booktitle={IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2020)}, 
  year={2020},
  pages = {},
}
  • [DOI] H. Karaouguz and I. H. Bozma, “Merging of Appearance-Based Place Knowledge among Multiple Robots,” Auton. Robots, vol. 44, iss. 6, p. 1009–1027, 2020.
    [Bibtex] 
    @article{10.1007/s10514-020-09911-2,
author = {Karao\u{g}uz, Hakan and Bozma, H. I\c{s}il},
title = {Merging of Appearance-Based Place Knowledge among Multiple Robots},
year = {2020},
issue_date = {Jul 2020},
publisher = {Kluwer Academic Publishers},
address = {USA},
volume = {44},
number = {6},
issn = {0929-5593},
url = {https://doi.org/10.1007/s10514-020-09911-2},
doi = {10.1007/s10514-020-09911-2},
abstract = {If robots can merge the appearance-based place knowledge of other robots with their own, they can relate to these places even if they have not previously visited them. We have investigated this problem using robots with compatible visual sensing capabilities and with each robot having its individual long-term place memory. Here, each place refers to a spatial region as defined by a collection of appearances and in the place memory, the knowledge is organized in a tree hierarchy. In the proposed merging approach, the hierarchical organization plays a key role—as it corresponds to a nested sequence of hyperspheres in the appearance space. The merging proceeds by considering the extent of overlap of the respective nested hyperspheres—starting with the largest covering hypersphere. Thus, differing from related work, knowledge is merged in as large chunks as possible while the hierarchical structure is preserved accordingly. As such, the merging scales better as the extent of knowledge to be merged increases. This is demonstrated in an extensive set of multirobot experiments where robots share their knowledge and then use their merged knowledge when visiting these places.},
journal = {Auton. Robots},
month = {jul},
pages = {1009–1027},
numpages = {19},
keywords = {Unsupervised learning, Multi-robot, Place recognition}
}
  • D. Patar and H. I. Bozma., “Generation of Object Candidates Through Simply Looking Around,” in IEEE Int’l Conf. on Robotics and Automation (ICRA), 2020, pp. 9456-9462.
    [Bibtex] 
    @INPROCEEDINGS{patbozICRA2020,
  title={Generation of Object Candidates Through Simply Looking Around},
  author={ Patar, D. and H.I. Bozma.},
 booktitle={IEEE Int'l Conf. on Robotics and Automation (ICRA)}, 
  year={2020},
  pages = {9456-9462},
}

2019

  • [DOI] H. I. Bozma, W. D. Gillam, and F. Öztürk, “Morse-Bott functions on orthogonal groups,” Topology and its Applications, vol. 265, p. 106807, 2019.
    [Bibtex] 
    @article{BOZMA2019106807,
title = "Morse-Bott functions on orthogonal groups",
journal = "Topology and its Applications",
volume = "265",
pages = "106807",
year = "2019",
issn = "0166-8641",
doi = "https://doi.org/10.1016/j.topol.2019.07.001",
url = "http://www.sciencedirect.com/science/article/pii/S0166864119302275",
author = "H.I. Bozma and W.D. Gillam and F. Öztürk",
keywords = "Morse-Bott theory, Orthogonal groups, Perfect fillings of tables, Morse-Bott inequalities",
abstract = "We make a detailed study of various (quadratic and linear) Morse-Bott trace functions on the orthogonal groups O(n). We describe the critical loci of the quadratic trace function Tr(AXBXT) and determine their indices via perfect fillings of tables. We review the basic notions of Morse-Bott cohomology in a simple case where the set of critical points has two connected components. We then use these results to give a new Morse-theoretic computation of the mod 2 Betti numbers of SO(n)."
}

2018

  • H. I. Bozma and F. Ozturk, “An Automated Reactive Approach to Single Robot Exogeneous Planar Assembly,” in IEEE Int.’l Conf. on Robotics and Automation (ICRA), 2018, pp. 1617-1622.
    [Bibtex] 
    @INPROCEEDINGS{senbozozICRA2018,
  title={An Automated Reactive Approach to Single Robot Exogeneous Planar  Assembly},
  author={{ Bozma, H. I. and  Ozturk, F.}},
 booktitle={IEEE Int.'l Conf. on Robotics and Automation (ICRA)}, 
  year={2018},
  pages = {1617-1622}

}
  • M. Demir and H. I. Bozma, “Automated Place Detection Based on Coherent Segments,” in The 12th IEEE International Conference on Semantic Computing, 2018, pp. 71-76.
    [Bibtex] 
    @INPROCEEDINGS{eyel2017,
  title={Automated Place Detection Based on Coherent Segments},
  author={{ Demir, M. and Bozma, H. I.}},
  booktitle={The 12th IEEE International Conference on Semantic Computing},
  year={2018},
  pages = {71-76}

}
  • B. Hoke and H. I. Bozma, “(in Turkish) Uyarlamalı Gama Düzeltmesiyle Görünüslerde Işık Değişmezliigi ,” in Türkiye Robotbilim Konferansı, 2018, pp. 218-223.
    [Bibtex] 
    @INPROCEEDINGS{hobozTORK2018,
  title={(in Turkish) Uyarlamalı Gama Düzeltmesiyle  Görünüslerde Işık  Değişmezliigi },
  author={{ Hoke, B. and Bozma, H.I..}},
 booktitle={Türkiye Robotbilim Konferansı}, 
  year={2018},
pages = {218-223}

}
  • D. Senel, H. I. Bozma, and F. Ozturk, “Multirobot Realization based on Goal Adjacency Constraints,” in IEEE Int’l Conf. on Robotics and Automation (ICRA), 2018, pp. 1058-1063.
    [Bibtex] 
    @INPROCEEDINGS{bozozICRA2018,
  title={Multirobot Realization based on Goal Adjacency Constraints},
  author={{ Senel, D. and Bozma, H. I. and  Ozturk, F.}},
 booktitle={IEEE Int'l Conf. on Robotics and Automation (ICRA)}, 
  year={2018},
pages = {1058-1063}

}
  • K. Turksoy and H. I. Bozma, “Compact & Canonical Appearances Discovered Autonomously ,” in IEEE/RSJ Int’l Conf. on Intelligent Robots and Systems, 2018.
    [Bibtex] 
    @INPROCEEDINGS{turbozIROS2018,
  title={Compact \& Canonical Appearances Discovered Autonomously },
  author={{ Turksoy, K.. and Bozma, H.I..}},
 booktitle={IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems}, 
  year={2018},
pages = {}

}

2017

  • [DOI] Ö. Erkent, H. Karaog̃uz, and H. Işıl. Bozma, “Hierarchically self-organizing visual place memory,” Advanced Robotics, vol. 31, iss. 16, pp. 865-879, 2017.
    [Bibtex] 
    @article{doi:10.1080/01691864.2017.1356746,
author = {Özgür Erkent and Hakan Karaog̃uz and H. Işıl Bozma},
title = {Hierarchically self-organizing visual place memory},
journal = {Advanced Robotics},
volume = {31},
number = {16},
pages = {865-879},
year  = {2017},
publisher = {Taylor & Francis},
doi = {10.1080/01691864.2017.1356746},

URL = { 
        http://dx.doi.org/10.1080/01691864.2017.1356746
    
},
eprint = { 
        http://dx.doi.org/10.1080/01691864.2017.1356746
    
}

}
  • E. Yel and H. I. Bozma, “Verifying the Recognized Place Through Localization,” in Workshop on Introspective Methods for Reliable Autonomy, IEEE/RSJ Int’l Conf. on Intelligent Robots and Systems, 2017.
    [Bibtex] 
    @INPROCEEDINGS{eyel2017,
  title={Verifying the Recognized Place Through Localization},
  author={{ Yel, E. and Bozma, H. I.}},
  booktitle={Workshop on Introspective Methods for Reliable Autonomy, IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems},
  year={2017},

eprint = { 
        http://aass.oru.se/Agora/IROS2017_Introspection/papers/IMRA-2017_paper_2.pdf
}

}
  • F. Öztürk and H. I. Bozma, “Sequential gradient dynamics in real analytic Morse systems,” Dynamical Systems, vol. 32, iss. 2, pp. 187-197, 2017.
    [Bibtex] 
    @article{ozturk2015sequential,
  title={Sequential gradient dynamics in real analytic Morse systems},
  author={{\"O}zt{\"u}rk, Ferit and Bozma, H. I.},
  journal={Dynamical Systems},
  volume = 32,
  number = 2,
  pages = {187-197},
  year={2017}
}

2016

  • H. Bayram and H. I. Bozma, “Assistance networks for dynamic multirobot tasks,” Autonomous Robots, vol. 40, pp. 615-630, 2016.
    [Bibtex] 
    @article{bayram2016assistance,
  title={Assistance networks for dynamic multirobot tasks},
  author={Bayram,Haluk and Bozma, H. I.},
  journal={Autonomous Robots},
  volume={40},
  issue={4},
  pages={615--630},
  year={2016}
}
  • [DOI] H. Bayram and H. Işıl. Bozma, “Coalition formation games for dynamic multirobot tasks,” The International Journal of Robotics Research, vol. 35, iss. 5, pp. 514-527, 2016.
    [Bibtex] 
    @article{Bayram01042016,
author = {Bayram, Haluk and Bozma, H. Işıl}, 
title = {Coalition formation games for dynamic multirobot tasks},
volume = {35}, 
number = {5}, 
pages = {514-527}, 
year = {2016}, 
doi = {10.1177/0278364915595707}, 
abstract ={In this paper we study the problem of forming coalitions for dynamic tasks in multirobot systems. As robots, either individually or in groups, encounter new tasks for which individual or group resources do not suffice, robot coalitions that are collectively capable of meeting these requirements need to be formed. We propose a hybrid approach to this problem where coalitions proceed with the task if they have sufficient resources after liberating redundant members while they report it to a task coordinator in cases where their resources do not suffice. In turn, the task coordinator forms capable coalitions based on coalition formation games in which groups of robots are evaluated together in regards to each task’s required resources and cost of forming a coalition. The resulting coalitions are such that no group of robots has a viable alternative to staying within their assigned coalition. Thus, as new tasks are confronted, coalitions merge and split so that the resulting coalitions are capable of the newly encountered tasks. Simulations and experiments performed on groups of heterogeneous mobile robots demonstrate the effectiveness of the proposed approach.}, 
URL = {http://ijr.sagepub.com/content/35/5/514.abstract}, 
eprint = {http://ijr.sagepub.com/content/35/5/514.full.pdf+html}, 
journal = {The International Journal of Robotics Research} 
}
  • H. Karaoguz and H. I. Bozma, “An integrated model of autonomous topological spatial cognition,” Autonomous Robots, vol. 40, pp. 1379-1402, 2016.
    [Bibtex] 
    @article{karaoguz2015autorob,
  title={An integrated model of autonomous topological spatial cognition},
  author={Karaoguz, Hakan and Bozma, H. I.},
  journal={Autonomous Robots},
  year={2016},
  volume = 40,
  issue = 8,
  pages = {1379-1402}

}
  • H. Karaoguz and H. I. Bozma, “Developing a Spatially Cognizant Robot.,” in ICRA 2016 Workshop on AI for Long-term Autonomy, 2016.
    [Bibtex] 
    @inproceedings{karaoguzAIWS2016,
  title={Developing a  Spatially Cognizant Robot.},
  author={Karaoguz, H. and Bozma, H. I.},
  booktitle={ ICRA 2016 Workshop on AI for Long-term Autonomy},
  year={2016}
}
  • H. Karaoğuz and H. I. Bozma, “Merging Appearance-Based Spatial Knowledge in Multirobot Systems,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016, pp. 5107-5112.
    [Bibtex] 
    @INPROCEEDINGS{KarBozIROS2016, 
 author={H. Karaoğuz and H. I. Bozma}, 
 booktitle={ IEEE/RSJ  International Conference on Intelligent Robots and Systems}, 
 title={Merging Appearance-Based Spatial Knowledge in Multirobot Systems}, 
pages = {5107-5112},
 year={2016}}
  • [DOI] D. Şenel, H. I. Bozma, and F. Öztürk, “Finding optimal isomorphic goal adjacency,” in IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 4650-4655.
    [Bibtex] 
    @INPROCEEDINGS{7487665, 
 author={D. Şenel and H. I. Bozma and F. Öztürk}, 
 booktitle={IEEE International Conference on Robotics and Automation (ICRA)}, 
 title={Finding optimal isomorphic goal adjacency}, 
 year={2016}, 
 pages={4650-4655}, 
 abstract={In many multirobot applications, the overall goal topology of the robot formation is more important than achieving a specific adjacency. In such cases, it is convenient to revise the given goal adjacency matrix so that it is more apt to the robots' configuration. In this paper, we present a solution to this problem. For this, we first formulate the problem as finding an optimal isomorphic adjacency matrix and then propose a two-stage method for solving it. In the first stage, an optimal orthogonal matrix that solves the problem is determined while in the second stage, the search for the optimal permutation matrix is conducted - based on the approximation of the resulting orthogonal matrix by a non-commutative convex combination of permutation matrices. Extensive simulation results indicate that an adjacency matrix that is more apt to the robots' locations can be determined with the optimality of the resulting solution tuning the accuracy parameter.}, 
 keywords={matrix algebra;optimisation;robots;optimal isomorphic adjacency matrix;optimal isomorphic goal adjacency;optimal orthogonal matrix;optimal permutation matrix;robot location;Optimization;Robot kinematics;Search problems;Symmetric matrices;Topology;Tuning}, 
 doi={10.1109/ICRA.2016.7487665}, 
 month={May},}

2015

  • B. C. Akdeniz and H. I. Bozma, “Exploration and topological map building in unknown environments,” in IEEE International Conference on Robotics and Automation (ICRA), 2015, pp. 1079-1084.
    [Bibtex] 
    @inproceedings{akdeniz2015exploration,
  title={Exploration and topological map building in unknown environments},
  author={Akdeniz, Bayram C and Bozma, H. I.},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
  pages={1079--1084},
  year={2015},
  organization={IEEE}
}
  • M. Demir and H. I. Bozma, “Video summarization via segments summary graphs,” in ICCV: Video Summarization for Large-Scale Analytics Workshop (VSLSAW), 2015.
    [Bibtex] 
    @inproceedings{demir2015video,
  title={Video summarization via segments summary graphs},
  author={Demir, Mahmut and Bozma, H. I. },
  booktitle={ICCV: Video Summarization for Large-Scale Analytics Workshop (VSLSAW)},
  year={2015}
}
  • Erkent O. and H. I. Bozma, “Long-term topological place learning,” in IEEE International Conference on Robotics and Automation (ICRA), 2015, pp. 5462-5467.
    [Bibtex] 
    @inproceedings{erkent2015longterm,
  title={Long-term topological place learning},
  author={Erkent, O., and Bozma, H. I.},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
  pages={5462-5467},
  year={2015},
  organization={IEEE}
}
  • H. Karaoguz and H. I. Bozma, “Topological place recognition based on long-term memory retrieval,” in International Conference on Advanced Robotics (ICAR), 2015, pp. 218-223.
    [Bibtex] 
    @inproceedings{karaoguz2015topological,
  title={Topological place recognition based on long-term memory retrieval},
  author={Karaoguz, Hakan and Bozma, H. I.},
  booktitle={International Conference on Advanced Robotics (ICAR)},
  pages={218--223},
  year={2015},
  organization={IEEE}
}
  • C. Odabasi and H. I. Bozma, “Attentively finding and moving among apples,” in Workshop on Agri-Food Robotics at IROS, 2015.
    [Bibtex] 
    @inproceedings{odabasi2015attentive,
  title={Attentively finding and moving among apples},
  author={Odabasi,Cagatay and Bozma, H. I.},
  booktitle={Workshop on Agri-Food Robotics at IROS},
  year={2015},
  organization={IEEE}
}

2014

  • H. Bayram and H. I. Bozma, “Coalition formation games for dynamic multirobot tasks,” in Workshop on the Algorithmic Foundations of Robotics (WAFR), 2014.
    [Bibtex] 
    @inproceedings{bayram2014wafr,
  title={Coalition formation games for dynamic multirobot tasks},
  author={Bayram, Haluk and Bozma, H. I. },
  booktitle={Workshop on the Algorithmic Foundations of Robotics (WAFR)},
  year={2014},
}
  • H. Bayram and H. I. Bozma, “Decentralized network topologies in multirobot systems,” Advanced Robotics, vol. 28, iss. 14, pp. 967-982, 2014.
    [Bibtex] 
    @article{bayram2014decentralized,
  title={Decentralized network topologies in multirobot systems},
  author={Bayram, Haluk and Bozma, H. I.},
  journal={Advanced Robotics},
  volume={28},
  number={14},
  pages={967--982},
  year={2014},
  publisher={Taylor \& Francis}
}
  • S. C. Karagoz, H. I. Bozma, and D. E. Koditschek, “Coordinated navigation of multiple independent disk-shaped robots,” IEEE Transactions on Robotics, vol. 30, iss. 6, pp. 1289-1304, 2014.
    [Bibtex] 
    @article{karagoz2014coordinated,
  title={Coordinated navigation of multiple independent disk-shaped robots},
  author={Karagoz, C Serkan and Bozma, H. I. and Koditschek, Daniel E},
  journal={IEEE Transactions on Robotics},
  volume={30},
  number={6},
  pages={1289--1304},
  year={2014},
  publisher={IEEE}
}
  • H. Karaoguz and H. I. Bozma, “Reliable topological place detection in bubble space,” in IEEE International Conference on Robotics and Automation (ICRA), 2014, pp. 697-702.
    [Bibtex] 
    @inproceedings{karaoguz2014reliable,
  title={Reliable topological place detection in bubble space},
  author={Karaoguz, Hakan and Bozma, H. I.},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
  pages={697--702},
  year={2014},
  organization={IEEE}
}
  • H. Karaoguz, Ö. Erkent, and H. I. Bozma, “RGB-D based place representation in topological maps,” Machine Vision and Applications, vol. 25, iss. 8, pp. 1913-1927, 2014.
    [Bibtex] 
    @article{karaouguz2014rgb,
  title={RGB-D based place representation in topological maps},
  author={Karaoguz, Hakan and Erkent, {\"O}zg{\"u}r and Bozma, H. I.},
  journal={Machine Vision and Applications},
  volume={25},
  number={8},
  pages={1913--1927},
  year={2014},
  publisher={Springer Berlin Heidelberg}
}

2013

  • C. B. Akdeniz and H. I. Bozma, “Local terrain mapping via 3D laser based bubble surfaces,” in European Conference on Mobile Robots (ECMR), 2013, pp. 44-49.
    [Bibtex] 
    @inproceedings{akdeniz2013local,
  title={Local terrain mapping via 3D laser based bubble surfaces},
  author={Akdeniz, B Cevdet and Bozma, H. I.},
  booktitle={European Conference on Mobile Robots (ECMR)},
  pages={44--49},
  year={2013},
  organization={IEEE}
}
  • H. Bayram and H. I. Bozma, “Multirobot communication network topology via centralized pairwise games,” in IEEE International Conference on Robotics and Automation (ICRA), 2013, pp. 2521-2526.
    [Bibtex] 
    @inproceedings{bayram2013multirobot,
  title={Multirobot communication network topology via centralized pairwise games},
  author={Bayram, Haluk and Bozma, H. I.},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
  pages={2521--2526},
  year={2013},
  organization={IEEE}
}
  • O. Erkent and H. I. Bozma, “Integrating cue descriptors in bubble space for place recognition,” in International Conference on Computer Vision Systems, 2013, pp. 314-323.
    [Bibtex] 
    @inproceedings{erkent2013integrating,
  title={Integrating cue descriptors in bubble space for place recognition},
  author={Erkent, Ozgur and Bozma, H. I.},
  booktitle={International Conference on Computer Vision Systems},
  pages={314 -- 323},
  year={2013},
}
  • O. Erkent and H. I. Bozma, “Bubble Space and Place Representation in Topological Maps,” International Journal of Robotics Research, vol. 32, iss. 6, pp. 671-688, 2013.
    [Bibtex] 
    @article{erkent2013bubble,
  title={Bubble Space and Place Representation in Topological Maps},
  author={Erkent, Ozgur and Bozma, H. I.},
  journal={International Journal of Robotics Research},
  volume={32},
  number={6},
  pages={671 -- 688},
  year={2013},
}
  • H. Karaoguz, H. Bayram, and H. I. Bozma, “Communication integrated control architecture in multirobot systems,” ICRA workshop on Towards fully decentralized multi-robot systems: Hardware, Software and Integration, 2013.
    [Bibtex] 
    @article{karaoguz2013communication,
  title={Communication integrated control architecture in multirobot systems},
  author={Karaoguz, Hakan and Bayram, Haluk and Bozma, H. I.},
  journal={ICRA workshop on Towards fully decentralized multi-robot systems: Hardware, Software and Integration},
  year={2013}
}

2012

  • H. I. Bozma and M. Kalalioglu, “Multirobot coordination in pick-and-place tasks on a moving conveyor,” Robotics and Computer-Integrated Manufacturing, vol. 28, iss. 4, pp. 530-538, 2012.
    [Bibtex] 
    @article{bozma2012multirobot,
  title={Multirobot coordination in pick-and-place tasks on a moving conveyor},
  author={Bozma, H. I. and Kalalioglu, ME},
  journal={Robotics and Computer-Integrated Manufacturing},
  volume={28},
  number={4},
  pages={530--538},
  year={2012},
  publisher={Pergamon}
}
  • O. Erkent and H. I. Bozma, “Place Representation in Topological Maps Based on Bubble Space,” in IEEE International Conference on Robotics and Automation (ICRA), 2012, pp. 3487-3502.
    [Bibtex] 
    @inproceedings{erkent2012place,
  title={Place Representation in Topological Maps Based on Bubble Space},
  author={Erkent, Ozgur and Bozma, H. I.},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
  pages={3487-3502},
  year={2012},
  organization={IEEE}
}
  • O. Erkent and H. I. Bozma, “Artificial potential functions based camera movements and visual behaviors in attentive robots,” Autonomous Robots, vol. 32, iss. 1, pp. 15-34, 2012.
    [Bibtex] 
    @article{erkent2012artificial,
  title={Artificial potential functions based camera movements and visual behaviors in attentive robots},
  author={Erkent, Ozgur and Bozma, H. I.},
  journal={Autonomous Robots},
  volume={32},
  number={1},
  pages={15--34},
  year={2012},
  publisher={Springer US}
}

2011

  • H. Bayram and H. I. Bozma, “Pairwise vs coalition game networks for multi-robot systems,” Proceedings of IFAC 18th World Congress, pp. 13750-13575, 2011.
    [Bibtex] 
    @article{bayram2011pairwise,
  title={Pairwise vs coalition game networks for multi-robot systems},
  author={Bayram, Haluk and Bozma, H. I.},
  journal={Proceedings of IFAC 18th World Congress},
  pages={13750--13575},
  year={2011}
}

2010

  • H. Bayram and H. I. Bozma, “Multi-robot navigation with limited communication-deterministic vs game-theoretic networks,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, pp. 1825-1830.
    [Bibtex] 
    @inproceedings{bayram2010multi,
  title={Multi-robot navigation with limited communication-deterministic vs game-theoretic networks},
  author={Bayram, Haluk and Bozma, H. I.},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={1825--1830},
  year={2010},
  organization={IEEE}
}
  • H. Bayram and H. I. Bozma, “Planar multi-robot realizations of connectivity graphs using genetic algorithms,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, pp. 5163-5168.
    [Bibtex] 
    @inproceedings{bayram2010planar,
  title={Planar multi-robot realizations of connectivity graphs using genetic algorithms},
  author={Bayram, Haluk and Bozma, H. I.},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={5163--5168},
  year={2010},
  organization={IEEE}
}
  • C. Dikici and H. I. Bozma, “Attention-based video streaming,” Signal Processing: Image Communication, vol. 25, iss. 10, pp. 745-760, 2010.
    [Bibtex] 
    @article{dikici2010attention,
  title={Attention-based video streaming},
  author={Dikici, Cagatay and Bozma, H. I.},
  journal={Signal Processing: Image Communication},
  volume={25},
  number={10},
  pages={745--760},
  year={2010},
  publisher={Elsevier}
}

2009

  • S. Cayci, O. Erkent, and H. I. Bozma, “Attentive mobile robot visual maps via bubble memory,” Perception ECVP abstract, vol. 38, pp. 47-47, 2009.
    [Bibtex] 
    @article{cayci2009attentive,
  title={Attentive mobile robot visual maps via bubble memory},
  author={Cayci, S and Erkent, O and Bozma, H. I.},
  journal={Perception ECVP abstract},
  volume={38},
  pages={47--47},
  year={2009},
  publisher={Pion Ltd}
}
  • S. Cayci, O. Erkent, and H. I. Bozma, “Folding pathways explored with artificial potential functions,” Physical Biology, 2009.
    [Bibtex] 
    @article{ulutas2009folding,
  title={Folding pathways explored with artificial potential functions},
  author={Cayci, S and Erkent, O and Bozma, H. I.},
  journal={Physical Biology},
  month={May},
  year={2009}
}

2008

  • O. Erkent and H. I. Bozma, “Color based saccades for attention control,” in 10th European Conference on Computer Vision workshop: ‘Vision in Action: Efficient strategies for cognitive agents in complex environments’, 2008.
    [Bibtex] 
    @inproceedings{erkent2008color,
  title={Color based saccades for attention control},
  author={Erkent, Ozgur and Bozma, H. I.},
  booktitle={10th European Conference on Computer Vision workshop: 'Vision in Action: Efficient strategies for cognitive agents in complex environments'},
  year={2008}
}

2006

  • H. Bayram, A. Ertüzün, and H. I. Bozma, “Reactive rearrangement of parts under sensor inaccuracy: particle filter approach,” in IEEE International Conference on Robotics and Automation (ICRA), 2006, pp. 2029-2034.
    [Bibtex] 
    @inproceedings{bayram2006reactive,
  title={Reactive rearrangement of parts under sensor inaccuracy: particle filter approach},
  author={Bayram, Hal{\^u}k and Ert{\"u}z{\"u}n, Ay{\c{s}}in and Bozma, H. I.},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
  pages={2029--2034},
  year={2006},
}
  • D. B. Ilhan, O. Erkent, and H. I. Bozma, “Saccades and fixating using artificial potential functions,” in IEEE/RSJ International Conference on Intelligent Robots and Systems , 2006, pp. 5819-5824.
    [Bibtex] 
    @inproceedings{ilhan2006saccades,
  title={Saccades and fixating using artificial potential functions},
  author={Ilhan, B Deniz and Erkent, Ozgur and Bozma, H. I.},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems },
  pages={5819--5824},
  year={2006},
  organization={IEEE}
}
  • C. Soyer, H. I. Bozma, and Y. Istefanopulos, “Apes-biologically motivated attentive robot,” Autonomous Robots, vol. 20, pp. 61-80, 2006.
    [Bibtex] 
    @article{soyer2006apes,
  title={Apes-biologically motivated attentive robot},
  author={Soyer, C and Bozma, H. I. and Istefanopulos, Y},
  journal={Autonomous Robots},
  volume={20},
  pages={61--80},
  year={2006}
}

2005

  • C. Dikici and H. I. Bozma, “Video coding based on pre-attentive processing,” in Electronic Imaging, 2005, pp. 212-220.
    [Bibtex] 
    @inproceedings{dikici2005video,
  title={Video coding based on pre-attentive processing},
  author={Dikici, Cagatay and Bozma, H. I.},
  booktitle={Electronic Imaging},
  pages={212--220},
  year={2005},
  organization={International Society for Optics and Photonics}
}

2004

  • G. Cakiroglu and H. I. Bozma, “Dynamic integration for scene recognition using complex attentional sequences,” in Proceedings of Intelligent Autonomous Systems, 2004.
    [Bibtex] 
    @inproceedings{cakiroglu2004dynamic,
  title={Dynamic integration for scene recognition using complex attentional sequences},
  author={Cakiroglu, G and Bozma, H. I.},
  booktitle={Proceedings of Intelligent Autonomous Systems},
  year={2004},

}
  • C. S. Karagöz, H. I. Bozma, and D. E. Koditschek, “Feedback-based event-driven parts moving,” IEEE Transactions on Robotics, vol. 20, iss. 6, pp. 1012-1018, 2004.
    [Bibtex] 
    @article{karagoz2004feedback,
  title={Feedback-based event-driven parts moving},
  author={Karag{\"o}z, Cem Serkan and Bozma, H. I. and Koditschek, Daniel E},
  journal={IEEE Transactions on Robotics},
  volume={20},
  number={6},
  pages={1012--1018},
  year={2004},
  publisher={IEEE}
}

2003

  • H. I. Bozma, G. Cakiroglu, and C. Soyer, “Biologically inspired Cartesian and non-Cartesian filters for attentional sequences,” Pattern recognition letters, vol. 24, iss. 9, pp. 1261-1274, 2003.
    [Bibtex] 
    @article{bozma2003biologically,
  title={Biologically inspired Cartesian and non-Cartesian filters for attentional sequences},
  author={Bozma, H. I. and Cakiroglu, G and Soyer, Cagatay},
  journal={Pattern recognition letters},
  volume={24},
  number={9},
  pages={1261--1274},
  year={2003},
  publisher={North-Holland}
}
  • C. Soyer, H. I. Bozma, and Y. Istefanopulos, “Attentional sequence-based recognition: Markovian and evidential reasoning,” IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, vol. 33, iss. 6, pp. 937-950, 2003.
    [Bibtex] 
    @article{soyer2003attentional,
  title={Attentional sequence-based recognition: Markovian and evidential reasoning},
  author={Soyer, {\c{C}}a{\u{g}}atay and Bozma, H. I. and Istefanopulos, Yorgo},
  journal={IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics},
  volume={33},
  number={6},
  pages={937--950},
  year={2003},
  publisher={IEEE}
}

2002

  • H. I. Bozma and H. Yalccin, “Visual processing and classification of items on a moving conveyor: a selective perception approach,” Robotics and Computer-Integrated Manufacturing, vol. 18, iss. 2, pp. 125-133, 2002.
    [Bibtex] 
    @article{bozma2002visual,
  title={Visual processing and classification of items on a moving conveyor: a selective perception approach},
  author={Bozma, H. I. and Yal{\c{c}}{\i}n, H{\"u}lya},
  journal={Robotics and Computer-Integrated Manufacturing},
  volume={18},
  number={2},
  pages={125--133},
  year={2002},
  publisher={Pergamon}
}
  • C. S. Karagöz, H. I. Bozma, and D. E. Koditschek, “EDAR-mobile robot for parts moving based on a game-theoretic approach,” Electronics Letters, vol. 38, iss. 3, pp. 147-148, 2002.
    [Bibtex] 
    @article{karagoz2002edar,
  title={EDAR-mobile robot for parts moving based on a game-theoretic approach},
  author={Karag{\"o}z, Cem Serkan and Bozma, H. I. and Koditschek, Daniel E},
  journal={Electronics Letters},
  volume={38},
  number={3},
  pages={147--148},
  year={2002},
  publisher={IET}
}
  • B. H. I. Soyer C. S. and Y. Istefanopulos, “Apes: Actively Perceiving Robot,” in IEEE/RSJ International Conference on Robots and Systems, 2002.
    [Bibtex] 
    @inproceedings{soyer2002apes,
  title={Apes: Actively Perceiving Robot},
  author={Soyer, C. S. , Bozma, H. I. and Istefanopulos, Y. },
  booktitle={IEEE/RSJ International Conference on Robots and Systems},
  year={2002},
  
}

2001

  • H. I. Bozma and D. E. Koditschek, “Assembly as a noncooperative game of its pieces: analysis of 1D sphere assemblies,” Robotica, vol. 19, iss. 01, pp. 93-108, 2001.
    [Bibtex] 
    @article{bozma2001assembly,
  title={Assembly as a noncooperative game of its pieces: analysis of 1D sphere assemblies},
  author={Bozma, H. I. and Koditschek, Daniel E},
  journal={Robotica},
  volume={19},
  number={01},
  pages={93--108},
  year={2001},
  publisher={Cambridge University Press}
}

2000

  • C. Serkan Karaguz, H. I. Bozma, and D. E. Koditschek, “Event-driven parts moving in 2D endogenous environments,” in Robotics and Automation, 2000. Proceedings. ICRA’00. IEEE International Conference on, 2000, pp. 1076-1081.
    [Bibtex] 
    @inproceedings{serkan2000event,
  title={Event-driven parts moving in 2D endogenous environments},
  author={Serkan Karaguz, C and Bozma, H. I. and Koditschek, Daniel E},
  booktitle={Robotics and Automation, 2000. Proceedings. ICRA'00. IEEE International Conference on},
  volume={2},
  pages={1076--1081},
  year={2000},
  organization={IEEE}
}
  • C. Soyer, H. I. Bozma, and Y. Istefanopulos, “A new memory model for selective perception systems,” in Intelligent Robots and Systems, 2000.(IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on, 2000, pp. 2304-2309.
    [Bibtex] 
    @inproceedings{soyer2000new,
  title={A new memory model for selective perception systems},
  author={Soyer, {\c{C}}agatay and Bozma, H. I. and Istefanopulos, Yorgo},
  booktitle={Intelligent Robots and Systems, 2000.(IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on},
  volume={3},
  pages={2304--2309},
  year={2000},
  organization={IEEE}
}

1999

  • S. B. Göktürk, L. Akarun, and H. I. Bozma, “Automated inspection of PCB’s using a novel approach.,” in NSIP, 1999, pp. 180-184.
    [Bibtex] 
    @inproceedings{gokturk1999automated,
  title={Automated inspection of PCB's using a novel approach.},
  author={G{\"o}kt{\"u}rk, Salih Burak and Akarun, Lale and Bozma, H. I.},
  booktitle={NSIP},
  pages={180--184},
  year={1999}
}