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  • 51.
    Miloradovic, Branko
    et al.
    Mihailo Pupin Institute, Belgrade, Serbia.
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Vujovic, Milica
    Mihailo Pupin Institute, Belgrade, Serbia.
    Popic, Svemir
    Mihailo Pupin Institute, Belgrade, Serbia.
    Rodic, Aleksandar
    Mihailo Pupin Institute, Belgrade, Serbia.
    Low–-cost anthropomorphic robotic hand with elastic joints –: early results2015In: Proceedings of the 2nd International Conference on Electrical, Electronic and Computing Engineering, 2015Conference paper (Refereed)
    Abstract [en]

    The main objective of this paper is to propose a hand design that is inexpensive, robust against collisions and has enhanced grasping performance. Instead of simply copying human hand design this work will focus on mimicking its capabilities and functional properties. At this stage of the research only the index finger and the thumb have been realized. These two are the most important parts of the human hand from the design and usage point of view. The new approach includes the use of elastic joints instead of conventional hinge joints, thus providing passive grasp. This way the hand becomes more energy efficient. Since there is a lot of elasticity as an effect of material choice and design, it was decided to implement optoelectronic angular sensor for angular measurement.

  • 52.
    Miloradović, Branko
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Papadopoulos, Alessandro
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    A Genetic Algorithm Approach to Multi-Agent Mission Planning Problems2020In: Operations Research and Enterprise Systems / [ed] Parlier G.; Liberatore F.; Demange M., Springer, Cham , 2020, p. 109-134Chapter in book (Other academic)
    Abstract [en]

    Multi-Agent Systems (MASs) have received great attention from scholars and engineers in different domains, including computer science and robotics. MASs try to solve complex and challenging problems (e.g., a mission) by dividing them into smaller problem instances (e.g., tasks) that are allocated to the individual autonomous entities (e.g., agents). By fulfilling their individual goals, they lead to the solution to the overall mission. A mission typically involves a large number of agents and tasks, as well as additional constraints, e.g., coming from the required equipment for completing a given task. Addressing such problem can be extremely complicated for the human operator, and several automated approaches fall short of scalability. This paper proposes a genetic algorithm for the automation of multi-agent mission planning. In particular, the contributions of this paper are threefold. First, the mission planning problem is cast into an Extended Colored Traveling Salesperson Problem (ECTSP), formulated as a mixed integer linear programming problem. Second, a precedence constraint reparation algorithm to allow the usage of common variation operators for ECTSP is developed. Finally, a new objective function minimizing the mission makespan for multi-agent mission planning problems is proposed.

  • 53.
    Miloradović, Branko
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Papadopoulos, Alessandro
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Exploiting Parallelism in Multi-Task Robot Allocation Problems2021In: 2021 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2021, p. 197-202Conference paper (Refereed)
    Abstract [en]

    Multi-Agent Systems (MASs) have been widely adopted in robotics, as a means to solve complex missions by subdividing them into smaller tasks. In such a context, Multi-Robot Task Allocation (MRTA) has been a relevant research area, with the main aim of providing formulations and solutions to different mission configurations, in order to optimize the planning and the execution of complex missions utilizing multiple robots. In recent years, robotic systems have become more powerful thanks to the adoption of novel computing platforms, enabling an increased level of parallelism, in terms of sensing, actuation, and computation. As a result, more complex missions can be achieved, at the cost of an increased complexity for the optimization of the mission planning. In this paper, we first introduce the distinction between physical and virtual tasks of the robots, and their relation in terms of parallel execution. Therefore, we propose a mathematical formalization of the mission planning problem for Multi-Task (MT) robots, in the presence of tasks that require only a Single-Robot (SR) to complete, and in the presence of Time-Extended Assignments (TAs). The problem is modeled with a Mixed-Integer Linear Programming (MILP) formulation, with the objective of minimizing the total makespan of the mission, exploiting the potential (physical and virtual) parallelism of the robots. The model is validated over some representative scenarios, and their respective solutions are obtained with the CPLEX optimization tool, showing the generality of the proposed formulation.

  • 54.
    Miloradović, Branko
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Papadopoulos, Alessandro
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Extended colored traveling salesperson for modeling multi-agent mission planning problems2019In: ICORES 2019 - Proceedings of the 8th International Conference on Operations Research and Enterprise Systems, SciTePress , 2019, p. 237-244Conference paper (Refereed)
    Abstract [en]

    In recent years, multi-agent systems have been widely used in different missions, ranging from underwater to airborne. A mission typically involves a large number of agents and tasks, making it very hard for the human operator to create a good plan. A search for an optimal plan may take too long, and it is hard to make a time estimate of when the planner will finish. A Genetic algorithm based planner is proposed in order to overcome this issue. The contribution of this paper is threefold. First, an Integer Linear Programming (ILP) formulation of a novel Extensive Colored Traveling Salesperson Problem (ECTSP) is given. Second, a new objective function suitable for multi-agent mission planning problems is proposed. Finally, a reparation algorithm to allow usage of common variation operators for ECTSP has been developed. 

  • 55.
    Miloradović, Branko
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Papadopoulos, Alessandro
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems. ES (Embedded Systems).
    GMP: A Genetic Mission Planner for Heterogeneous Multirobot System Applications2022In: IEEE Transactions on Cybernetics, ISSN 2168-2267, E-ISSN 2168-2275, Vol. 52, no 10, p. 10627-10638Article in journal (Refereed)
    Abstract [en]

    The use of multiagent systems (MASs) in real-world applications keeps increasing, and diffuses into new domains, thanks to technological advances, increased acceptance, and demanding productivity requirements. Being able to automate the generation of mission plans for MASs is critical for managing complex missions in realistic settings. In addition, finding the right level of abstraction to represent any generic MAS mission is important for being able to provide general solution to the automated planning problem. In this article, we show how a mission for heterogeneous MASs can be cast as an extension of the traveling salesperson problem (TSP), and we propose a mixed-integer linear programming formulation. In order to solve this problem, a genetic mission planner (GMP), with a local plan refinement algorithm, is proposed. In addition, the comparative evaluation of CPLEX and GMP is presented in terms of timing and optimality of the obtained solutions. The algorithms are benchmarked on a proposed set of different problem instances. The results show that, in the presence of timing constraints, GMP outperforms CPLEX in the majority of test instances.

  • 56.
    Miloradović, Branko
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Papadopoulos, Alessandro
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Optimizing Parallel Task Execution for Multi-Agent Mission Planning2021Manuscript (preprint) (Other academic)
    Abstract [en]

    Multi-Agent Systems have received a tremendous amount of attention in many areas of research and industry, especially in robotics and computer science. With the increased number of agents in missions, the problem of allocation of tasks to agents arose, and it is one of the most fundamental classes of problems in robotics, formally known as the Multi-Robot Task Allocation (MRTA) problem. MRTA encapsulates numerous problem dimensions, and it aims at providing formulations and solutions to various problem configurations, i.e., complex multi-robot missions.

    One dimension of the MRTA problem has not caught much of the research attention. In particular, problem configurations including Multi-Task (MT) robots have been neglected. However, the increase in computational power, in robotic systems, has allowed the utilization of parallel task execution. This in turn had the benefit of allowing the creation of more complex robotic missions; however, it came at the cost of increased problem complexity. 

    To overcome the aforementioned problem, we introduce the distinction between physical and virtual tasks and their mutual relationship in terms of parallel task execution. To fill in the gap in the literature related to MT robot problem configurations, we provide a formalization of the mission planning problem, using MT robots, in the form of Integer Linear Programming and Constraint Programming (CP), to minimize the mission makespan. The models are validated in CPLEX and CP Optimizer on the set of benchmarks. Moreover, we provide a comprehensive performance analysis of both solvers, exploring their scalability and solution quality.

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  • 57.
    Miloradović, Branko
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Papadopoulos, Alessandro
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Optimizing Parallel Task Execution for Multi-Agent Mission Planning2023In: IEEE Access, E-ISSN 2169-3536, Vol. 11, p. 24367-24381Article in journal (Refereed)
    Abstract [en]

    Multi-agent systems have received a tremendous amount of attention in many areas of research and industry, especially in robotics and computer science. With the increased number of agents in missions, the problem of allocation of tasks to agents arose, and it is one of the most fundamental classes of problems in robotics, formally known as the Multi-Robot Task Allocation (MRTA) problem. MRTA encapsulates numerous problem dimensions, and it aims at providing formulations and solutions to various problem configurations, i.e., complex multi-agent missions. One dimension of the MRTA problem has not caught much of the research attention. In particular, problem configurations including Multi-Task (MT) robots have been neglected. However, the increase in computational power, in robotic systems, has allowed the utilization of parallel task execution. This in turn had the benefit of allowing the creation of more complex robotic missions; however, it came at the cost of increased problem complexity. Our contribution to the aforementioned domain can be grouped into three categories. First, we model the problem using two different approaches, Integer Linear Programming and Constraint Programming. With these models, we aim at filling the gap in the literature related to the formal definition of MT robot problem configuration. Second, we introduce the distinction between physical and virtual tasks and their mutual relationship in terms of parallel task execution. This distinction allows the modeling of a wider range of missions while exploiting possible parallel task execution. Finally, we provide a comprehensive performance analysis of both models, by implementing and validating them in CPLEX and CP Optimizer on the set of problems. Each problem consists of the same set of test instances gradually increasing in complexity, while the percentage of virtual tasks in each problem is different. The analysis of the results includes exploration of the scalability of both models and solvers, the effect of virtual tasks on the solvers' performance, and overall solution quality.

  • 58.
    Miloradović, Branko
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Frasheri, Mirgita
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Papadopoulos, Alessandro
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    TAMER: Task Allocation in Multi-robot Systems Through an Entity-Relationship Model2019In: PRIMA 2019: Principles and Practice of Multi-Agent Systems, 2019, p. 478-486Conference paper (Refereed)
    Abstract [en]

    Multi-robot task allocation (MRTA) problems have been studied extensively in the past decades. As a result, several classifications have been proposed in the literature targeting different aspects of MRTA, with often a few commonalities between them. The goal of this paper is twofold. First, a comprehensive overview of early work on existing MRTA taxonomies is provided, focusing on their differences and similarities. Second, the MRTA problem is modelled using an Entity-Relationship (ER) conceptual formalism to provide a structured representation of the most relevant aspects, including the ones proposed within previous taxonomies. Such representation has the advantage of (i) representing MRTA problems in a systematic way, (ii) providing a formalism that can be easily transformed into a software infrastructure, and (iii) setting the baseline for the definition of knowledge bases, that can be used for automated reasoning in MRTA problems.

  • 59.
    Parokaran, Jessy
    et al.
    Mälardalen University, School of Innovation, Design and Engineering.
    Argunsah, Ali Özgur
    Sabanci University,Istanbul,Turkey .
    Çürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering.
    Cetin, Mujdat
    Sabanci University,Istanbul,Turkey .
    Analysis of EEG Signals for Brain Computer Interface2009Conference paper (Refereed)
  • 60.
    Rodríguez-Molina, J.
    et al.
    Centro de Investigación en Tecnologías Software y Sistemas Multimedia Para la Sostenibilidad—CITSEM, Madrid, Spain.
    Bilbao, S.
    TECNALIA, Derio, Bizkaia, Spain.
    Martínez, B.
    TECNALIA, Derio, Bizkaia, Spain.
    Frasheri, Mirgita
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    An optimized, data distribution service-based solution for reliable data exchange among autonomous underwater vehicles2017In: Sensors, E-ISSN 1424-8220, Vol. 17, no 8, article id 1802Article in journal (Refereed)
    Abstract [en]

    Major challenges are presented when managing a large number of heterogeneous vehicles that have to communicate underwater in order to complete a global mission in a cooperative manner. In this kind of application domain, sending data through the environment presents issues that surpass the ones found in other overwater, distributed, cyber-physical systems (i.e., low bandwidth, unreliable transport medium, data representation and hardware high heterogeneity). This manuscript presents a Publish/Subscribe-based semantic middleware solution for unreliable scenarios and vehicle interoperability across cooperative and heterogeneous autonomous vehicles. The middleware relies on different iterations of the Data Distribution Service (DDS) software standard and their combined work between autonomous maritime vehicles and a control entity. It also uses several components with different functionalities deemed as mandatory for a semantic middleware architecture oriented to maritime operations (device and service registration, context awareness, access to the application layer) where other technologies are also interweaved with middleware (wireless communications, acoustic networks). Implementation details and test results, both in a laboratory and a deployment scenario, have been provided as a way to assess the quality of the system and its satisfactory performance. 

  • 61.
    Trinh, Lan Anh
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Cürüklü, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Fault Tolerance Analysis for Dependable Autonomous Agents Using Colored Time Petri Nets2017In: ICAART: PROCEEDINGS OF THE 9TH INTERNATIONAL CONFERENCE ON AGENTS AND ARTIFICIAL INTELLIGENCE, VOL 1, 2017, p. 228-235Conference paper (Refereed)
    Abstract [en]

    Fault tolerance has become more and more important in the development of autonomous systems with the aim to help the system to recover its normal activities even when some failures happen. Yet, one of the concerns is how to analyze the reliability of a fault tolerance mechanism with regards to the collaboration of multiple agents to complete a complicated task. To do so, an approach of fault tolerance analysis with the colored time Petri net framework is proposed in this work, where a task can be represented by a tree of different concurrent and dependent subtasks to assign to agents. Different subtasks and agents are modeled by color tokens in Petri network. The time values are added to evaluate the processing performance of the whole system with respect to its ability to solve a task with fault tolerance ability. The colored time Petri nets are then tested with simulation of centralized and distributed systems. Finally the experiments are performed to show the feasibility of the proposed approach. From the basics of this study, a generalized framework in the future can be developed to address the fault tolerance analysis for a set of agents working with a sophisticated plan to achieve a common target.

  • 62.
    Trinh, Lan Anh
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Petri Net Based Navigation Planning with Dipole Field and Dynamic Window Approach for Collision Avoidance2019In: International Conference on Control, Decision and Information Technologies CoDIT, 2019, p. 1013-1018, article id 8820359Conference paper (Refereed)
    Abstract [en]

    This paper presents a novel path planning system for multiple robots working in an uncontrolled environment in the presence of humans. The approach combines the use of Petri net to plan the movement of multiple robots to prevent the risk of congestion caused by routing several robots into a narrow region, together with a dipole field with dynamic window approach to avoid collisions of a robot with dynamic obstacles. By regarding the velocity and direction of both humans and robots as a source of magnetic dipole moment, the dipole-dipole interaction between the moving objects will generate repulsive forces to prevent collisions. The whole system is presented on robot operating system platform so that its implementation can be extendable into real robots. Experimental results with Gazebo simulator demonstrates the effectiveness of the proposed approach.

  • 63.
    Trinh, LanAnh
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Dependability for Autonomous Control with a Probability Approach2017In: ERCIM News, ISSN 0926-4981, E-ISSN 1564-0094, no 109, p. 22-23Article in journal (Other academic)
    Abstract [en]

    For the last decade, dependability - the ability to offer a service that can be trusted - has been the focus of much research, and is of particular interest when designing and building systems. We are developing a dependable framework for an autonomous system and its control.

  • 64.
    Trinh, LanAnh
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Dependable Navigation for Multiple Autonomous Robots with Petri Nets Based Congestion Control and Dynamic Obstacle Avoidance2022In: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, ISSN 0921-0296, Vol. 104, no 4, article id 69Article in journal (Refereed)
    Abstract [en]

    In this paper, a novel path planning algorithm for multiple robots using congestion analysis and control is presented. The algorithm ensures a safe path planning solution by avoiding collisions among robots as well as among robots and humans. For each robot, alternative paths to the goal are realised. By analysing the travelling time of robots on different paths using Petri Nets, the optimal configuration of paths is selected. The prime objective is to avoid congestion when routing many robots into a narrow area. The movements of robots are controlled at every intersection by organising a one-by-one passing of the robots. Controls are available for the robots which are able to communicate and share information with each other. To avoid collision with humans and other moving objects (i.e. robots), a dipole field integrated with a dynamic window approach is developed. By considering the velocity and direction of the dynamic obstacles as sources of a virtual magnetic dipole moment, the dipole-dipole interaction between different moving objects will generate repulsive forces proportional to the velocity to prevent collisions. The whole system is presented on the widely used platform Robot Operating System (ROS) so that its implementation is extendable to real robots. Analysis and experiments are demonstrated with extensive simulations to evaluate the effectiveness of the proposed approach.

  • 65.
    Trinh, LanAnh
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Dipole Flow Field for Dependable Path Planning of Multiple Agents2017In: IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, 2017Conference paper (Refereed)
  • 66.
    Trinh, LanAnh
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Multi-Path Planning for Autonomous Navigation of Multiple Robots in a Shared Workspace with Humans2020In: 2020 6th International Conference on Control, Automation and Robotics ICCAR, Singapore, Singapore, 2020, p. 113-118, article id 9108082Conference paper (Refereed)
    Abstract [en]

    Path finding for multiple robots is one of most important problems in robotics when to find a way to move robots from their starting positions to reach their respective goals without collisions. However, in the case of a complex environment with the presence of humans and other unpredictable moving objects, fixing a single path to the goal may lead to a situation where there are a lot of obstacles on the planned path and the robots may fail to realise the moving plan. To address this issue, a new approach of using multiple path planning where each robot has different options to choose its path to the goal is introduced in this paper. The information about planned moving paths are shared among the robots in the working domain, combined with obstacle avoidance constraints in local ranges, and formulated as an optimisation problem. Solution of the problem leads to the optimal moving plans of robots. The effectiveness of the proposed approach is demonstrated by experimental results.

  • 67.
    Trinh, LanAnh
    et al.
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Ekström, Mikael
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Toward Shared Working Space of Human and Robotic Agents Through Dipole Flow Field for Dependable Path Planning2018In: Frontiers in Neurorobotics, E-ISSN 1662-5218, Vol. 12, article id 28Article in journal (Refereed)
    Abstract [en]

    Recent industrial developments in autonomous systems, or agents, which assume that humans and the agents share the same space or even work in close proximity, open for new challenges in robotics, especially in motion planning and control. In these settings, the control system should be able to provide these agents a reliable path following control when they are working in a group or in collaboration with one or several humans in complex and dynamic environments. In such scenarios, these agents are not only moving to reach their goals, i.e., locations, they are also aware of the movements of other entities to find a collision-free path. Thus, this paper proposes a dependable, i.e, safe, reliable and effective, path planning algorithm for a group of agents that share their working space with humans. Firstly, the method employs the Theta* algorithm to initialize the paths from a starting point to a goal for a set of agents. As Theta* algorithm is computationally heavy, it only reruns when there is a significant change of the environment. To deal with the movements of the agents, a static flow field along the configured path is defined. This field is used by the agents to navigate and reach their goals even if the planned trajectories are changed. Secondly, a dipole field is calculated to avoid the collision of agents with other agents and human subjects. In this approach, each agent is assumed to be a source of a magnetic dipole field in which the magnetic moment is aligned with the moving direction of the agent. The magnetic dipole-dipole interactions between these agents generate repulsive forces to help them to avoid collision. The effectiveness of the proposed approach has been evaluated with extensive simulations. The results show that the static flow field is able to drive agents to the goals with a small number of requirements to update the path of agents. Meanwhile, the dipole flow field plays an important role to prevent collisions. The combination of these two fields results in a safe path planning algorithm, with a deterministic outcome, to navigate agents to their desired goals.

  • 68.
    Çürüklü, Baran
    Mälardalen University, Department of Computer Science and Engineering.
    Layout and function of the intracortical connections within the primary visual cortex2003Licentiate thesis, comprehensive summary (Other scientific)
  • 69.
    Çürüklü, Baran
    et al.
    Mälardalen University, School of Innovation, Design and Engineering.
    Asplund, Lars
    Mälardalen University, School of Innovation, Design and Engineering.
    Kalaykov, Ivan
    Robotics for SME´s – increased flexibility through mobility and ease of use2009Report (Other academic)
  • 70.
    Çürüklü, Baran
    et al.
    Mälardalen University, School of Innovation, Design and Engineering.
    Dodig-Crnkovic, Gordana
    Mälardalen University, School of Innovation, Design and Engineering.
    Akan, Batu
    Mälardalen University, School of Innovation, Design and Engineering.
    Towards Industrial Robots with Human Like Moral Responsibilities2010In: 5th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2010, Osaka, Japan, 2010, p. 85-86Conference paper (Refereed)
    Abstract [en]

    Robots do not have any capability of taking moral responsibility. At the same time industrial robotics is entering a new era with "intelligent" robots sharing workbench with humans. Teams consisting of humans and industrial robots are no longer science fiction. The biggest worry in this scenario is the fear of humans losing control and robots running amok. We believe that the current way of implementing safety measures have shortcomings, and cannot address challenges related to close collaboration between humans and robots. We propose that "intelligent" industrial robots of the future should have moral responsibilities towards their human colleagues. We also propose that implementation of moral responsibility is radically different from standard safety measures.

  • 71.
    Çürüklü, Baran
    et al.
    Mälardalen University, School of Innovation, Design and Engineering.
    Lansner, Anders
    Configuration-specific facilitation phenomena explained by layer 2/3 summation pools in V12009Conference paper (Refereed)
  • 72.
    Çürüklü, Baran
    et al.
    Mälardalen University, Department of Computer Science and Electronics.
    Lansner, Anders
    Mälardalen University, Department of Computer Science and Electronics.
    Configuration-specific facilitation phenomena explained by the layout of the V1 horizontal connections2006Conference paper (Refereed)
  • 73.
    Çürüklü, Baran
    et al.
    Mälardalen University, Department of Computer Science and Electronics.
    Lansner, Anders
    Mälardalen University, Department of Computer Science and Electronics.
    On the development and functional roles of the layer 4 horizontal connections in the primary visual cortex2006Conference paper (Refereed)
  • 74.
    Östlund, Gunnel
    et al.
    Mälardalen University, School of Health, Care and Social Welfare, Health and Welfare.
    Blomberg, Helena
    Mälardalen University, School of Health, Care and Social Welfare, Health and Welfare.
    Rautell Lindstedt, Philip
    Mälardalen University.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    DIG Child ett digitalt metodverktyg för ökad delaktighet.2021Conference paper (Other academic)
  • 75.
    Östlund, Gunnel
    et al.
    Mälardalen University, School of Health, Care and Social Welfare, Health and Welfare.
    Blomberg, Helena
    Mälardalen University, School of Health, Care and Social Welfare, Health and Welfare.
    Rautell Lindstedt, Philip
    Mälardalen University.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Welfare technology in the service of children to increase children's participation in child assessments – testing the DIG Child application2021Conference paper (Refereed)
  • 76.
    Östlund, Gunnel
    et al.
    Mälardalen University, School of Health, Care and Social Welfare, Health and Welfare.
    Lindstedt Rautell, Philip
    Mälardalen University.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Blomberg, Helena
    Mälardalen University, School of Health, Care and Social Welfare, Health and Welfare.
    Developing a child friendly app for child welfare investigations – how schoolchildren co-create and co-construct the application with researchers.2020Conference paper (Refereed)
  • 77.
    Östlund, Gunnel
    et al.
    Mälardalen University, School of Health, Care and Social Welfare, Health and Welfare.
    Rautell Lindstedt, Philip
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Curuklu, Baran
    Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
    Blomberg, Helena
    Mälardalen University, School of Health, Care and Social Welfare, Health and Welfare.
    Developing welfare technology to increase children’s participation in child welfare assessments: an empirical case in Sweden2023In: European Journal of Social Work, ISSN 1369-1457, E-ISSN 1468-2664Article in journal (Refereed)
    Abstract [en]

    The purpose of the article is to describe and problematise the practice-initiated idea of developing a digital tool for children in child welfare investigations and whether and how this welfare technology is useful for social workers. The results include interview data and descriptions of the research process. The social workers are of the opinion that the digital application increases the possibilities for children’s participation in child investigations, even though their main focus is to create an alliance with the parents. During the research process the digital tool has developed from an empirical idea to a conversation tool and been tested with different user groups. However, the law on procurement limits the possibilities for data storage if the digital tool is to be used in the future. In sum, in order to develop child protection work further, more practice-based research needs to be conducted so that researchers can develop the practice’s ideas and identify the obstacles, opportunities, organisational conditions and development needs. The social workers in this study believe that the digital tool is useful for accessing children's perspectives and experiences, even though relational work with children is not their main task in child welfare investigations. 

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