Omur Arslan, PhD

Assistant Professor of Robotics

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You can check my publications on Google Scholar and ResearchGate.

Publications

Journal Articles

[J7] Statistical Coverage Control of Mobile Sensor Networks
Omur Arslan
IEEE Transactions on Robotics (T-RO), vol. 35(4):889-908, August 2019
[pdf] [video] [doi]
[J6] Sensor-based Reactive Navigation in Unknown Convex Sphere Worlds
Omur Arslan and Daniel E. Koditschek
The International Journal of Robotics Research (IJRR), vol. 38(2–3):196–223, March 2019
[pdf] [video1] [video2] [video3] [video4] [doi]
[J5] Discriminative Measures for Comparison of Phylogenetic Trees
Omur Arslan, Dan P. Guralnik and Daniel E. Koditschek
Discrete Applied Mathematics (DAM), vol. 217(3):405-426, January 2017
[pdf] [techreport] [poster] [doi]
[J4] Coordinated Robot Navigation via Hierarchical Clustering
Omur Arslan, Dan P. Guralnik and Daniel E. Koditschek
IEEE Transactions on Robotics (T-RO), vol. 32(2):352-371, April 2016
[pdf] [video] [doi]
[J3] On the Optimality of Napoleon Triangles
Omur Arslan and Daniel E. Koditschek
Journal of Optimization Theory and Applications (JOTA), vol. 1(1):1-10, March 2016
[pdf] [doi]
[J2] Reactive Planning and Control of Planar Spring–mass Running on Rough Terrain
Omur Arslan and Uluç Saranlı
IEEE Transactions on Robotics (T-RO), vol. 28(3):567-579, June 2012
[pdf] [doi]
[J1] Approximate Analytic Solutions to Nonsymmetric Stance Trajectories of the Passive Spring-loaded Inverted Pendulum with Damping
Uluç Saranlı, Omur Arslan, M. Mert Ankaralı and Ömer Morgül
Nonlinear Dynamics, vol. 62(4):729-742, December 2010
[pdf] [doi]

Conference Proceedings

[C15] Probabilistically Safe Corridors to Guide Sampling-Based Motion Planning
Jinwook Huh*, Omur Arslan* and Daniel D. Lee (*equally contributed)
The International Symposium on Robotics Research (ISRR), Hanoi, Vietnam, October 2019
[pdf] [arXiv]
[C14] Voronoi-based Coverage Control of Pan/Tilt/Zoom Camera Networks
Omur Arslan, Hancheng Min and Daniel E. Koditschek
IEEE International Conference on Robotics and Automation (ICRA), pp. 5062-5069, Brisbane, Australia, May 2018
(Best Paper Award Nominee on Multi-Robot Systems)
[pdf] [video] [doi]
[C13] Integration of Local Geometry and Metric Information in Sampling-based Motion Planning
Vincent Pacelli, Omur Arslan and Daniel E. Koditschek
IEEE International Conference on Robotics and Automation (ICRA), pp. 3061-3068, Brisbane, Australia, May 2018
[pdf] [video] [doi]
[C12] Sensor-based Reactive Symbolic Planning in Partially Known Environments
Vasileios Vasilopoulos, William Vega-Brown, Omur Arslan, Nicholas Roy and Daniel E. Koditschek
IEEE International Conference on Robotics and Automation (ICRA), pp. 5683-5690, Brisbane, Australia, May 2018
[pdf] [techreport] [video] [doi]
[C11] Sensor-based Legged Robot Homing using Range-only Target Localization
Vasileios Vasilopoulos, Omur Arslan, Avik De and Daniel E. Koditschek
IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 2630-2637, Macau, December 2017
[pdf] [video] [doi]
[C10] Sensory Steering for Sampling-based Motion Planning
Omur Arslan, Vincent Pacelli and Daniel E. Koditschek
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3708-3715, Vancouver, BC, Canada, September 2017
[pdf] [video] [doi]
[C9] Smooth Extensions of Feedback Motion Planners via Reference Governors
Omur Arslan and Daniel E. Koditschek
IEEE International Conference on Robotics and Automation (ICRA), pp. 4414-4421, Singapore, May 2017
[pdf] [video] [doi]
[C8] Detecting Poisoning Attacks on Hierarchical Malware Classification Systems
Dan P. Guralnik, Bill Moran, Ali Pezeshki and Omur Arslan
Cyber Sensing, SPIE Defense + Security, Anaheim, CA, May 2017
[pdf] [doi]
[C7] Sensor-based Reactive Navigation in Unknown Convex Sphere Worlds
Omur Arslan and Daniel E. Koditschek
The 12th International Workshop on the Algorithmic Foundations of Robotics (WAFR), San Francisco, CA, December 2016. (Best Paper Award Nominee)
[pdf] [techreport] [video] [talk]
[C6] Exact Robot Navigation using Power Diagrams
Omur Arslan and Daniel E. Koditschek
IEEE International Conference on Robotics and Automation (ICRA), pp. 1-8, Stockholm, Sweden, May 2016
[pdf] [video] [doi]
[C5] Voronoi-based Coverage Control of Heterogeneous Disk-shaped Robots
Omur Arslan and Daniel E. Koditschek
IEEE International Conference on Robotics and Automation (ICRA), pp. 4259-4266, Stockholm, Sweden, May 2016
[pdf] [techreport] [video] [doi]
[C4] Hierarchically Clustered Navigation of Distinct Euclidean Particles
Omur Arslan, Yuliy M. Baryshnikov, Dan P. Guralnik and Daniel E. Koditschek
Annual Allerton Conference on Communication, Control, and Computing (Allerton), pp. 946-953, Monticello, IL, October 2012
[pdf] [doi]
[C3] Reactive Footstep Planning for a Planar Spring Mass Hopper
Omur Arslan, Uluç Saranlı and Ömer Morgül
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 160-166, St. Louis, MO, October 2009
[pdf] [doi]
[C2] An Analytical Solution to the Stance Dynamics of Passive Spring-loaded Inverted Pendulum with Damping
M. Mert Ankaralı, Omur Arslan, and Uluç Saranlı
International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), pp. 693-700, World Scientific, Istanbul, Turkey, September 2009
[pdf] [doi]
[C1] An Approximate Stance Map of the Spring Mass Hopper with Gravity Correction for Nonsymmetric Locomotions
Omur Arslan, Uluç Saranlı and Ömer Morgül
IEEE International Conference on Robotics and Automation (ICRA), pp. 2388-2393, Kobe, Japan, May 2009
[pdf] [doi]

Book Chapters

[B1] Navigation of Distinct Euclidean Particles via Hierarchical Clustering
Omur Arslan, Dan P. Guralnik and Daniel E. Koditschek
Algorithmic Foundations of Robotics XI, vol. 107:19-36, Springer Tracts in Advanced Robotics, April 2015
[pdf] [techreport] [doi]

Reviewed Workshop Papers

[W2] Clustering-based Robot Navigation and Control
Omur Arslan, Dan P. Guralnik and Daniel E. Koditschek
Workshop on Emerging Topological Techniques in Robotics at IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 2016
[pdf] [poster]
[W1] A Recursive, Distributed Minimum Spanning Tree Algorithm for Mobile Ad Hoc Networks
Omur Arslan and Daniel E. Koditschek
Workshop on Communication-aware Robotics: New Tools for Multi-Robot Networks, Autonomous Vehicles, and Localization (CarNet Workshop) at Robotics: Science and Systems (RSS), Berkeley, CA, USA, July 2014
[pdf] [poster]

Preprints & Technical Reports

[P7] Probabilistically Safe Corridors to Guide Sampling-Based Motion Planning (Extended Version)
Jinwook Huh, Omur Arslan and Daniel D. Lee
arXiv:1901.00101 [cs.RO], January 2019
[pdf] [arXiv]
[P6] Technical Report: Sensor-Based Reactive Symbolic Planning in Partially Known Environments
Vasileios Vasilopoulos, William Vega-Brown, Omur Arslan, Nicholas Roy and Daniel E. Koditschek
arXiv:1709.05474 [cs.RO], February 2018
[pdf] [arXiv] [video]
[P5] Sensor-based Reactive Navigation in Convex Sphere Worlds
Omur Arslan and Daniel E. Koditschek
ESE Technical Report, January 2016
[pdf]
[P4] Voronoi-based Coverage Control of Heterogeneous Disk-shaped Robots(Extended Version)
Omur Arslan and Daniel E. Koditschek
arXiv:1509.03842 [cs.RO], September 2015
[pdf] [arXiv]
[P3] Anytime Hierarchical Clustering
Omur Arslan and Daniel E. Koditschek
arXiv:1404.3439 [stat.ML], April 2014
[pdf] [arXiv]
[P2] Navigation of Distinct Euclidean Particles via Hierarchical Clustering (Extended Version)
Omur Arslan, Dan P. Guralnik and Daniel E. Koditschek
ESE Technical Report, October 2013
[pdf]
[P1] Discriminative Measures for Comparison of Phylogenetic Trees (A Dynamical System Perspective)
Omur Arslan, Dan P. Guralnik and Daniel E. Koditschek
arXiv:1310.5202v1 [q-bio.PE], October 2013
[pdf] [arXiv]

Theses

[T4] On Balancing Event and Area Coverage in Mobile Sensor Networks
Hancheng Min
MSc Thesis, University of Pennsylvania, PA, May 2018. (Co-supervised with Daniel E. Koditschek)
[pdf]
[T3] Joint Exploitation of Local Metrics and Geometry in Sampling-based Planning
Vincent Pacelli
MSc Thesis, University of Pennsylvania, PA, August 2017. (Co-supervised with Daniel E. Koditschek)
[pdf]
[T2] Clustering-based Robot Navigation and Control
Omur Arslan
PhD Thesis, University of Pennsylvania, Philadelphia, PA, August 2016.
[pdf]
[T1] Model-based Methods for the Control and Planning of Running Robots
Omur Arslan
MSc Thesis, Bilkent University, Ankara, Turkey, July 2009.
[pdf]

Seminars, Talks & Poster Presentations

[S9] Statistical Coverage Control of Mobile Sensor Networks
Omur Arslan
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, November 2019.
[S8] Safe Motion Planning via Reference Governors: From Simple Navigation Policies to Their Smooth Extensions
Omur Arslan
Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, Netherlands, May 2019
[S7] Safe Motion Planning via Reference Governors: From Simple Navigation Policies to Their Smooth Extensions
Omur Arslan
Cognitive Robotics Department, Delft University of Technology, Delft, Netherlands, April 2019
[S6] Safe Motion Planning via Reference Governors: From Simple Navigation Policies to Their Smooth Extensions
Omur Arslan
Computational Robotics Lab, ETH Zurich, Switzerland, November 2018
[S5] Clustering-based Motion Planning and Control
Omur Arslan
Robotic Systems and Power Tools, Robert Bosch GmbH Center for Research and Development, Renningen, Germany, July 2018
[S4] Navigation in the Space of Hierarchies
Omur Arslan
Max Planck Institute for Intelligent Systems, Tübingen, Germany, February 2018
[poster]
[S3] Motion Planning via Reference Governors: Towards closing the gap between high-level and low-level motion planning
Omur Arslan
Middle East Technical University, Ankara, Turkey, July 2017
[S2] Motion Planning via Reference Governors: Towards closing the gap between high-level and low-level motion planning
Omur Arslan
Autonomous Motion Department, Max Planck Institute for Intelligent Systems, Tübingen, Germany, June 2017
[S1] Clustering-based Robot Navigation and Control
Omur Arslan
ESE PhD Colloquium, University of Pennsylvania, Philadelphia, USA, February 2016
[video]