Halil Utku Unlu — accepted AI-conference papers

2024

A Control Barrier Function-based Motion Planning Scheme for a Quadruped Robot

Halil Utku Unlu, Vinicius Mariano Gonçalves, Dimitris Chaikalis, Anthony Tzes, Farshad Khorrami

ICRA 2024poster

A Control Barrier Function (CBF)-based motion planning algorithm is proposed. The algorithm explores an unknown environment to reach a target point, providing velocity commands to the robot controller module. CBFs, along with a circulation inequality are used to generate safe paths toward the goal w…

Cited by 6 Source ↗Scholar ↗

2019

Sliding-Window Temporal Attention Based Deep Learning System for Robust Sensor Modality Fusion for UGV Navigation

Halil Utku Unlu, Naman Patel, Prashanth Krishnamurthy, Farshad Khorrami

RA-L 2019

We propose a novel temporal attention based neural network architecture for robotics tasks that involve fusion of time series of sensor data, and evaluate the performance improvements in the context of autonomous navigation of unmanned ground vehicles (UGVs) in uncertain environments. The architectu

Cited by 10 Source ↗Scholar ↗