Publications

Journal Articles/Book Chapters

1. Y. Lu, X. Huo, O. Arslan, and P. Tsiotras, “Incremental Multi-scale Search Algorithm for Dynamic Path Planning with Low Worst-case Complexity,” IEEE Transactions on Systems, Man, and Cybernetics Part B: Cybernetics, vol. 41, no. 6, pp. 1556–1570, 2011.
   bibtex

   @article{lu2011incremental,
     author = {Lu, Yibiao and Huo, Xiaoming and Arslan, Oktay and Tsiotras, Panagiotis},
     title = {Incremental Multi-scale Search Algorithm for Dynamic Path Planning with Low Worst-case Complexity},
     journal = {IEEE Transactions on Systems, Man, and Cybernetics Part B: Cybernetics},
     year = {2011},
     volume = {41},
     number = {6},
     pages = {1556--1570},
     publisher = {IEEE}
   }
   

2. O. Arslan, B. Armagan, and G. Inalhan, “Development of a Mission Simulator for design and testing of C2 Algorithms and HMI Concepts across Real and Virtual Manned-Unmanned Fleets,” in Optimization and Cooperative Control Strategies, Springer, 2009, pp. 431–458.
   bibtex

   @inbook{arslan2009development,
     author = {Arslan, Oktay and Armagan, Bahadir and Inalhan, Gokhan},
     title = {Development of a Mission Simulator for design and testing of C2 Algorithms and HMI Concepts across Real and Virtual Manned-Unmanned Fleets},
     journal = {Optimization and Cooperative Control Strategies},
     year = {2009},
     pages = {431--458},
     publisher = {Springer}
   }
   

Conferences

1. O. Arslan, K. Berntorp, and P. Tsiotras, “Sampling-based Algorithms for Optimal Motion Planning using Closed-loop Prediction,” in IEEE International Conference on Robotics and Automation (ICRA), 2017, pp. 4991–4996.
   bibtex

   @inproceedings{arslan2017sampling,
     author = {Arslan, Oktay and Berntorp, Karl and Tsiotras, Panagiotis},
     title = {Sampling-based Algorithms for Optimal Motion Planning using Closed-loop Prediction},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2017},
     pages = {4991--4996},
     organization = {IEEE}
   }
   

2. C. L. McGhan et al., “The Resilient Spacecraft Executive: An Architecture for Risk-Aware Operations in Uncertain Environments,” in AIAA Space, 2016, p. 5541.
   bibtex

   @inproceedings{mcghan2016resilient,
     author = {McGhan, Catharine L and Vaquero, Tiago and Subrahmanya, Anatha R and Arslan, Oktay and Murray, Richard and Ingham, Michel D and Ono, Masahiro and Estlin, Tara and Williams, Brian and Elaasar, Maged},
     title = {The Resilient Spacecraft Executive: An Architecture for Risk-Aware Operations in Uncertain Environments},
     booktitle = {AIAA Space},
     year = {2016},
     pages = {5541}
   }
   

3. O. Arslan and P. Tsiotras, “Incremental Sampling-based Motion Planners using Policy Iteration Methods,” in IEEE Conference on Decision and Control (CDC), 2016, pp. 5004–5009.
   bibtex

   @inproceedings{arslan2016incremental,
     author = {Arslan, Oktay and Tsiotras, Panagiotis},
     title = {Incremental Sampling-based Motion Planners using Policy Iteration Methods},
     booktitle = {IEEE Conference on Decision and Control (CDC)},
     year = {2016},
     pages = {5004--5009},
     organization = {IEEE}
   }
   

4. O. Arslan and P. Tsiotras, “Dynamic Programming Guided Exploration for Sampling-based Motion Planning Algorithms,” in IEEE International Conference on Robotics and Automation (ICRA), 2015, pp. 4819–4826.
   bibtex

   @inproceedings{Arslan2015c,
     author = {Arslan, Oktay and Tsiotras, Panagiotis},
     title = {Dynamic Programming Guided Exploration for Sampling-based Motion Planning Algorithms},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2015},
     pages = {4819--4826},
     organization = {IEEE}
   }
   

5. O. Arslan and P. Tsiotras, “Machine Learning Guided Exploration for Sampling-based Motion Planning Algorithms,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, pp. 2646–2652.
   bibtex

   @inproceedings{Arslan2015,
     author = {Arslan, Oktay and Tsiotras, Panagiotis},
     title = {Machine Learning Guided Exploration for Sampling-based Motion Planning Algorithms},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2015},
     pages = {2646--2652},
     organization = {IEEE}
   }
   

6. O. Arslan, E. A. Theodorou, and P. Tsiotras, “Information-theoretic Stochastic Optimal Control via Incremental Sampling-based Algorithms,” in IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL), 2014, pp. 1–8.
   bibtex

   @inproceedings{arslan2014information,
     author = {Arslan, Oktay and Theodorou, Evangelos A and Tsiotras, Panagiotis},
     title = {Information-theoretic Stochastic Optimal Control via Incremental Sampling-based Algorithms},
     booktitle = {IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL)},
     year = {2014},
     pages = {1--8},
     organization = {IEEE}
   }
   

7. O. Arslan and P. Tsiotras, “Use of Relaxation Methods in Sampling-based Algorithms for Optimal Motion Planning,” in IEEE International Conference on Robotics and Automation, 2013, pp. 2421–2428.
   bibtex

   @inproceedings{arslan2013use,
     author = {Arslan, Oktay and Tsiotras, Panagiotis},
     title = {Use of Relaxation Methods in Sampling-based Algorithms for Optimal Motion Planning},
     booktitle = {IEEE International Conference on Robotics and Automation},
     year = {2013},
     pages = {2421--2428},
     organization = {IEEE}
   }
   

8. Y. Lu, X. Huo, O. Arslan, and P. Tsiotras, “Multi-Scale LPA* with Low Worst-case Complexity Guarantees,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, pp. 3507–3512.
   bibtex

   @inproceedings{lu2011multi,
     author = {Lu, Yibiao and Huo, Xiaoming and Arslan, Oktay and Tsiotras, Panagiotis},
     title = {Multi-Scale LPA* with Low Worst-case Complexity Guarantees},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
     year = {2011},
     pages = {3507--3512},
     organization = {IEEE}
   }
   

9. O. Arslan, P. Tsiotras, and X. Huo, “Solving Shortest Path Problems with Curvature Constraints using Beamlets,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, pp. 3533–3538.
   bibtex

   @inproceedings{arslan2011solving,
     author = {Arslan, Oktay and Tsiotras, Panagiotis and Huo, Xiaoming},
     title = {Solving Shortest Path Problems with Curvature Constraints using Beamlets},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
     year = {2011},
     pages = {3533--3538},
     organization = {IEEE}
   }
   

10. O. Arslan and G. Inalhan, “An Event Driven Decision Support Algorithm for Command and Control of UAV Fleets,” in American Control Conference (ACC), 2009, pp. 5198–5203.
    bibtex

    @inproceedings{arslan2009event,
      author = {Arslan, Oktay and Inalhan, Gokhan},
      title = {An Event Driven Decision Support Algorithm for Command and Control of UAV Fleets},
      booktitle = {American Control Conference (ACC)},
      year = {2009},
      pages = {5198--5203},
      organization = {IEEE}
    }
    

11. O. Arslan and G. Inalhan, “Design of a Decision Support Architecture for Human Operators in UAV Fleet C2 Applications,” in International Command and Control Research and Technology Symposium (ICCRTS), 2009.
    bibtex

    @inproceedings{arslan2009design,
      author = {Arslan, Oktay and Inalhan, Gokhan},
      title = {Design of a Decision Support Architecture for Human Operators in UAV Fleet C2 Applications},
      booktitle = {International Command and Control Research and Technology Symposium (ICCRTS)},
      year = {2009}
    }
    

Posters & Presentations

1. O. Arslan and P. Tsiotras, “Dynamic Programming Principles for Sampling-based Motion Planners,” ICRA Workshop on Optimal Robot Motion Planning. 2015.
   bibtex

   @misc{Arslan2015b,
     author = {Arslan, Oktay and Tsiotras, Panagiotis},
     title = {Dynamic Programming Principles for Sampling-based Motion Planners},
     booktitle = {ICRA Workshop on Optimal Robot Motion Planning},
     year = {2015}
   }
   

2. O. Arslan and P. Tsiotras, “Dynamic Programming Algorithms for Motion Planning and Control,” New England Machine Learning Day 2015. May-2015.
   bibtex

   @misc{Arslan2015NewEngland,
     author = {Arslan, Oktay and Tsiotras, Panagiotis},
     title = {Dynamic Programming Algorithms for Motion Planning and Control},
     booktitle = {New England Machine Learning Day 2015},
     year = {2015},
     month = may,
     location = {Microsoft Research}
   }
   

3. O. Arslan and P. Tsiotras, “Machine Learning for Samping-based Motion Planning,” Amazon Fall Graduate Research Symposium. Nov-2014.
   bibtex

   @misc{Arslan2014Machine,
     author = {Arslan, Oktay and Tsiotras, Panagiotis},
     title = {Machine Learning for Samping-based Motion Planning},
     booktitle = {Amazon Fall Graduate Research Symposium},
     year = {2014},
     month = nov,
     location = {Amazon Headquater}
   }
   

4. O. Arslan, B. G. Ulualan, and G. Inalhan, “Design and Implementation of Communication and Information Distribution Modules for Cooperative Unmanned-Manned Vehicle Networks,” International Conference on Cooperative Control and Optimization. Jan-2008.
   bibtex

   @misc{Arslan2008Design,
     author = {Arslan, Oktay and Ulualan, Berat Gokhan and Inalhan, Gokhan},
     title = {Design and Implementation of Communication and
     Information Distribution Modules for Cooperative Unmanned-Manned Vehicle Networks},
     booktitle = {International Conference on Cooperative Control and Optimization},
     year = {2008},
     month = jan
   }
   

5. A. Cetinkaya, S. Karaman, O. Arslan, M. Aksugur, and G. Inalhan, “Design of a Distributed C2 Architecture for Interoperable Manned/Unmanned Fleets,” International Conference on Cooperative Control and Optimization. Jan-2007.
   bibtex

   @misc{Cetinkaya2007Design,
     author = {Cetinkaya, Ahmet and Karaman, Sertac and Arslan, Oktay and Aksugur, Mirac and Inalhan, Gokhan},
     title = {Design of a Distributed
     C2 Architecture for Interoperable Manned/Unmanned Fleets},
     booktitle = {International Conference on Cooperative Control and Optimization},
     year = {2007},
     month = jan
   }
   

Dissertation and Thesis

1. O. Arslan, “Machine learning and dynamic programming algorithms for motion planning and control,” PhD Thesis, Georgia Institute of Technology, 2015.
   bibtex

   @phdthesis{Arslan2015a,
     author = {Arslan, Oktay},
     title = {Machine learning and dynamic programming algorithms for motion planning and control},
     school = {Georgia Institute of Technology},
     year = {2015},
     type = {PhD Thesis}
   }
   

2. O. Arslan, “Design Of A Decision Support Architecture For Human Operators In UAV Fleet C2 Applications,” MSc Thesis, Istanbul Technical University, 2009.
   bibtex

   @mastersthesis{arslan2009master,
     author = {Arslan, Oktay},
     title = {Design Of A Decision Support Architecture For Human Operators In UAV Fleet C2 Applications},
     school = {Istanbul Technical University},
     year = {2009},
     type = {MSc Thesis}
   }
   

Patents

1. E. Musk, O. Arslan, and et al., “Autonomous and User Controlled Vehicle Summon to a Target,” 2019.
   submitted
   bibtex

   @patent{berntorp2017system,
     author = {Musk, Elon and Arslan, Oktay and et al.},
     title = {Autonomous and User Controlled Vehicle Summon to a Target},
     year = {2019},
     note = {submitted}
   }
   

2. M. Gildner, O. Arslan, and et al., “Autonomous Robotic Airship Inspection System for Large-scale Tank Interiors,” Mar-2018.
   US Patent App. 15/714,693
   bibtex

   @patent{gildner2018autonomous,
     author = {Gildner, Matthew and Arslan, Oktay and et al.},
     title = {Autonomous Robotic Airship Inspection System for Large-scale Tank Interiors},
     month = mar,
     year = {2018},
     note = {US Patent App. 15/714,693}
   }
   

3. K. Berntorp and O. Arslan, “System and Method for Controlling Autonomous Vehicles,” Jun-2017.
   US Patent App. 14/968,848
   bibtex

   @patent{berntorp2017systen,
     author = {Berntorp, Karl and Arslan, Oktay},
     title = {System and Method for Controlling Autonomous Vehicles},
     month = jun,
     year = {2017},
     note = {US Patent App. 14/968,848}
   }
   

Technical Reports

1. O. Arslan and P. Tsiotras, “An Efficient Sampling-based Algorithm for Motion Planning with Optimality Guarantees,” Georgia Institute of Technology, Sep. 2012.
   bibtex

   @report{arslan2012role,
     author = {Arslan, Oktay and Tsiotras, Panagiotis},
     title = {An Efficient Sampling-based Algorithm for Motion Planning with Optimality Guarantees},
     journal = {arXiv preprint arXiv:1204.6453},
     year = {2012},
     publisher = {Georgia Institute of Technology},
     month = sep
   }