Publications

  1. Name: NEU Islanders 2012 Team Description Paper
    Abstract: This paper describes the current development status of the RoboCup SmallSize
    League robot team NEUIslanders. NEUIslanders SSL robot soccer system is
    designed under the RoboCup 2012 SSL rules so as to participate in RoboCup 2012. This year
    we have made major changes to our 2011 design, all hardware and software modules have been
    redesigned. Most of the effort is spent on the mechanical structure of the robot and the software
    architecture that controls it.
    Link: http://wiki.robocup.org/images/9/90/Small_Size_League_-_RoboCup_2012_-_TDP_NEUIslanders.pdf
    Published: RoboCup International Competitions and Conferences
  2. Name: Navigation of mobile robot in dynamic environments
    Abstract: The main goal of mobile robot navigation is the steering of a robot in any direction, in
    particularly towards the goal, and to know its precise location in the environment. The existing
    path finding methods are basically based on potential field method, vector field histogram and A*
    methods. Using these methods the finding of feasible path will not complete in reasonable short
    time for real-time operation.
    Link: http://ieeexplore.ieee.org/document/6272997/
    DOI: 10.1109/CSAE.2012.6272997
    Published: Computer Science and Automation Engineering (CSAE), 2012 IEEE InternationalConference on Computer Science and Automation Engineering
  3. Name: NEU Islanders 2013 Team Description Paper
    Abstract: This paper describes the current development status of the RoboCup Small-Size
    League robot team NEUIslanders. NEUIslanders SSL robot soccer system is designed under the
    RoboCup 2013 SSL rules so as to participate in RoboCup 2013. This year we have made major
    changes to our 2012 design, all hardware modules have been redesigned.
    Link: http://wiki.robocup.org/images/9/90/Small_Size_League_-_RoboCup_2013_-_TDP_NEUIslanders.pdf
    Published: RoboCup International Competitions and Conferences
  4. Name: Behaviour Tree Based Control of Holonomic Robots
    Abstract: This paper proposes a novel behaviour tree based decision making mechanism for
    control of soccer robots. Decision Making (DM) is a basic block that analyses the current state of
    world model and makes decision about new positions of robots. Using hierarchical tree structure
    the behaviours of robot soccer are designed. BT has high and low level behaviours and its nodes
    are operating using certain behaviour rules. High level behaviours are implemented using low
    level behaviours. The use of BT approach allows to model complicated situations easily that show
    advantages of this technique over finite state machines widely used in robot control. After defining
    behaviours and making decisions, path finding module determines the path of robot. In the paper
    a novel path finding algorithm that uses a Rapidly Exploring Random Tree (RRT) and path
    smoothing techniques has been developed to find the path of the robot in a short time. The
    obtained simulation and experimental results show that the constructed navigation system of
    soccer robots efficiently finds desirable and feasible solutions in short amount of time.
    Link: http://www.wseas.us/e-library/conferences/2013/Lemesos/MIM/MIM-08.pdf
    ISSN: 2227-4588
    ISBN: 978-1-61804-168-5
    Published: Recent Advances in Mathematical Methods, Intelligent Systems and Materials
  5. Name: Control of soccer robots using behaviour trees
    Abstract: In the paper a novel behaviour tree based control used in decision making processes
    of robot soccer is proposed. Decision Making (DM) is a basic block of robot that analyses the
    current state of world model and makes decision about new positions of robots. Proposed
    behaviour tree (BT) has high and low level behaviours and its nodes are operating using certain
    behaviour rules given in the paper. High level behaviours are implemented using low level
    behaviours. The new behaviours of soccer robots are designed using tree structure. The use of
    BT approach allows to model complicated situations easily that show advantages of this
    technique over finite state machines widely used in robot control. After defining behaviours and
    making decisions, path finding module determines the path of robot. In the paper the integration
    of a Rapidly Exploring Random Tree (RRT) with path smoothing techniques is developed to find
    the path of the robot in a short time. The obtained simulation and experimental results show that
    the constructed navigation system of soccer robots efficiently finds desirable and feasible
    solutions in short amount of time.
    Link: http://ieeexplore.ieee.org/document/6606326/
    ISBN: 978-1-61804-168-5
    ISSN: 2227-4588
    DOI: 10.1109/ASCC.2013.6606326
    Published: Control Conference (ASCC), 2013 9th Asian
  6. Name: Behaviour tree based control for efficient navigation of holonomic robots
    Abstract: This paper presents novel behaviour tree (BT) based control and improved path finding
    algorithm for efficient navigation of holonomic robots used in a soccer team. The hierarchical BTbased
    control algorithm is proposed for decision
    making (DM) of robot to reach navigation goals.
    Link: https://www.actapress.com/Content_of_Journal.aspx?JournalID=186
    ISSN: 1925-7090
    Published: International Journal of Robotics and Automation
  7. Name: NEU Islanders 2014 Team Description Paper
    Abstract: This paper describes a detailed descriptions of NEUIslanders robotic team of small
    size league in RoboCup 2014. The important parts of mechanical, electronic and software design
    are described. The Robots are designed under the rules of RoboCup 2014 rules. The
    improvements that has been done on robots are presented. These are related to the change and
    new design of kicking and dribbling mechanism, electronic design of kicker system and
    improvement of navigation system of robot
    Link: http://wiki.robocup.org/images/9/90/Small_Size_League_-_RoboCup_2014_-_TDP_NEUIslanders.pdf
    Published: RoboCup International Competitions and Conferences
  8. Name: Improved Path-Finding Algorithm for Robot Soccers
    Abstract: —In robot soccer game mobile robot moves in complex, unpredictable, unknown
    dynamic environment. In such environment the design of efficient path finding algorithm that will
    find the path in a short time becomes important problem. The widely used path finding methods
    are potential field method, vector field histogram and A* algorithms. In real time operations finding
    the optimal path in a reasonable short time is not possible with the mentioned methods. The RRT
    (Rapidly Exploring Random Tree) algorithm finds a path in short time. But sometimes the length
    of path may be very long. This paper is devoted to the design of improved path finding algorithm
    that will find the near optimal path in a short time. The improved iterative RRT with path
    smoothing algorithm is developed and implemented in RoboCup Small Size robots. Through
    simulation it was shown that this algorithm can efficiently find desirable and near optimal solutions
    in short time.
    Link: http://www.joace.org/uploadfile/2015/0408/20150408113835359.pdf
    DOI: 10.12720/joace.3.5.398-402
    Published: Journal of Automation and Control Engineering
  9. Name: NEU Islanders 2015 Team Description Paper
    Abstract: This paper presents the 2015 design of NEUIslanders robotic team of small size
    league in RoboCup 2015. This year, we focused on all parts of our robots. Improvements
    include mechanical design, electronic design and software design. Especially, we achieved
    mechanical and electronic improvements.
    Link: http://wiki.robocup.org/images/9/90/Small_Size_League_-_RoboCup_2015_-_TDP_NEUIslanders.pdf
    Published: RoboCup International Competitions and Conferences
  10. Name: Brain Based Control of Wheelchair
    Abstract: This paper presents a brain based control of the wheelchair for physically impaired
    users. The design of the system is focused on receiving electroencephalographic (EEG) signals
    from the brain, processing and turning the system and then performing control of the wheelchair.
    The number of experimental measurements of brain activity has been obtained using human
    control commands of the wheelchair. The obtained data including EEG signals and control
    commands are used to design brain based control mechanism in training mode. The classification
    of brain signals has been done using a Support Vector Machine (SVM) and neural networks. The
    training data is used before using the system under real conditions. Then test data is applied to
    measure the accuracy of the control. The system designed in this paper is adjusted to control a
    wheelchair with five commands: move forward, move backward, stop, turn left and turn right in
    real conditions. The provided approach allows reducing the probability of misclassification and
    improving control accuracy of the wheelchair.
    Link: http://worldcomp-proceedings.com/proc/p2015/ICA6157.pdf
    Published: The 17th International Conference on Artificial Intelligence
  11. Name: Robot Soccer Control Using Behaviour Trees and Fuzzy Logic
    Abstract: Running time, flexibility and on-line adaptation are important features presenting to the
    decision making (DM) module of soccer robots. In this paper, the design of DM algorithm based
    on behaviour trees and fuzzy obstacle avoidance algorithm for control of soccer robots are
    presented. The basic elements of the behaviour tree (BT) used in decision making process of
    soccer robots are described. The integration of BT and fuzzy logic is proposed to increase the
    flexibility of the decision made by DM modules. Given algorithms have been extensively tested in
    simulation and provided satisfactory results in run time and adaptation to the new situation. Also,
    the efficient navigation procedure is designed using fuzzy obstacle avoidance algorithm. The
    obstacle avoidance algorithm uses fuzzy if-then rule base and inference mechanism for finding
    optimal path for avoidance of obstacles. The presented BT based decision making and fuzzy
    obstacle avoidance algorithms are used for control of the holonomic 4-wheel-driven soccer
    robots. The obtained results demonstrate the effectiveness of proposed algorithms in soccer
    robot control.
    DOI: 10.1016/j.procs.2016.09.430
    Link: http://ac.els-cdn.com/S1877050916326102/1-s2.0-S1877050916326102-main.pdf?_tid=41323f0c-139f-11e7-ac1b-00000aab0f6b&acdnat=1490696217_e199748b5d8b3d78677e7633ac91af12
    Published: 12th International Conference on Application of Fuzzy Systems and Soft Computing,
    ICAFS
  12. Name: NEU Islanders 2016 Team Description Paper
    Abstract: This paper describes a detailed description of NEUIslanders robotic team of small size
    league in RoboCup 2016. The important parts of mechanical, electronic and software design are
    described. The Robots are designed under the RoboCup 2015 rules. The improvements that
    have been done on robots are presented. These are related to the change and new design of
    electronic design of kicker system and improvement of navigation system of robot.software
    design. Especially, we achieved
    mechanical and electronic improvements.
    Link: http://wiki.robocup.org/images/3/37/Small_Size_League_-_RoboCup_2016_-_TDP_NEUIslanders.pdf
    Published: RoboCup International Competitions and Conferences
  13. Name: Brain-Computer Interface for Control of Wheelchair Using Fuzzy Neural Networks
    Abstract: The design of brain-computer interface for the wheelchair for physically disabled
    people is presented. The design of the proposed system is based on receiving, processing, and
    classification of the electroencephalographic (EEG) signals and then performing the control of the
    wheelchair. The number of experimental measurements of brain activity has been done using
    human control commands of the wheelchair. Based on the mental activity of the user and the
    control commands of the wheelchair, the design of classification system based on fuzzy neural
    networks (FNN) is considered. The design of FNN based algorithm is used for brain-actuated
    control. The training data is used to design the system and then test data is applied to measure
    the performance of the control system. The control of the wheelchair is performed under real
    conditions using direction and speed control commands of the wheelchair. The approach used in
    the paper allows reducing the probability of misclassification and improving the control accuracy
    of the wheelchair.
    DOI: 10.1155/2016/9359868
    Link: https://www.hindawi.com/journals/bmri/2016/9359868/abs/
    Published: BioMed Research International
  14. Name: Brain-actuated Control of Wheelchair Using Fuzzy Neural Networks
    Abstract: In this paper, a brain-actuated control of the wheelchair for physically disabled people
    is presented. The design of the system is focused on receiving, processing and classification of
    the brain signals and then performing control of the wheelchair. The number of experimental
    measurements of brain activity has been done using human control commands of the wheelchair.
    Using obtained data including brain signals and control commands the design of classification
    system based on fuzzy neural networks (FNN) is performed. The structure and learning algorithm
    of FNN used for brain-actuated control are presented. The training data is used to design the
    system and then test data is applied to measure the performance of the control under real
    conditions. The approach used in the paper allows reducing the probability of misclassification
    and improving the control accuracy of the wheelchair.
    ISBN: 1-60132-438-3
    Link: http://worldcomp-proceedings.com/proc/p2016/ICA3110.pdf
    Published: Proceedings on the International Conference on Artificial Intelligence