Hande Çelikkanat

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In this paper, we study self-organized flocking in a swarm of mobile robots. We present Kobot, a mobile robot platform developed specifically for swarm robotic studies. We describe its infrared-based short range sensing system, capable of measuring the distance from obstacles and detecting kin robots, and a novel sensing system called the virtual heading(More)
—Parental scaffolding is an important mechanism utilized by infants during their development. Infants, for example, pay stronger attention to the features of objects highlighted by parents and learn the way of manipulating an object while being supported by parents. In this paper, a robot with the basic ability of reaching for an object, closing fingers and(More)
We implement a self-organized flocking behavior in a group of mobile robots and analyze its transition from an aligned state to an unaligned state. We briefly describe the robot and the simulator platform together with the observed flocking dynamics. By experimenting with robotic and numerical systems, we find that an aligned-to-unaligned phase transition(More)
This paper studies self-organized flocking in a swarm of mobile robots. We present Kobot, a mobile robot platform developed specifically for swarm robotic studies, briefly describing its sensing and communication abilities. In particular , we describe a scalable method that allows the robots to sense the orientations of their neighbors using a digital(More)
In this work, we model context in terms of a set of concepts grounded in a robot's sensorimotor interactions with the environment. For this end, we treat context as a latent variable in Latent Dirichlet Allocation, which is widely used in computational linguistics for modeling topics in texts. The flexibility of our approach allows many-to-many(More)
—It is now widely accepted that concepts and con-ceptualization are key elements towards achieving cognition on a humanoid robot. An important problem on this path is the grounded representation of individual concepts and the relationships between them. In this article, we propose a probabilistic method based on Markov Random Fields to model a concept web(More)
  • H. Celikkanat
  • 2008
This work presents the evolutionary optimization of a self-organized flocking controller for a swarm of mobile robots. The robotic platform utilized is Kobot, a robot developed specifically for swarm robotic studies. In previous work, a successful self-organized flocking algorithm was proposed, which depends on two basic behaviors of heading alignment and(More)
Parental scaffolding is an important mechanism utilized by infants during their development. Infants, for example, pay stronger attention to the features of objects highlighted by parents and learn the way of manipulating an object while being supported by parents. Parents are known to make modifications in infant-directed actions, i.e. use " motionese ".(More)
—In this article, we formalize and model context in terms of a set of concepts grounded in the sensorimotor interactions of a robot. The concepts are modeled as a web using Markov Random Field, inspired from the concept web hypothesis for representing concepts in humans. On this concept web, we treat context as a latent variable of Latent Dirichlet(More)