Publications

S. İşcan & H.I. Bozma. Reliable and Fast Humans Removed Visual Scene Representation. (in press)  IEEE Robotics and Automation Letters, 2026

S. B. Vatan, K. Bektaş and H. I. Bozma, "Social APF-RL: Safe Mapless Navigation in Unknown & Human-Populated Environments," 2023 European Conference on Mobile Robots (ECMR), Coimbra, Portugal, 2023, pp. 1-6,  2023

• K. Karacan, J. T. Meyer, H. I. Bozma, R. Gassert, and E. Samur, “An Environment Recognition and Parameterization System for Shared-Control of a Powered Lower-Limb Exoskeleton,” in IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2020), 2020.
• H. Karaog̃uz and H. I. Bozma, “Merging of Appearance-Based Place Knowledge Among Multiple Robots” , Autonomous Robots,  44, 1009-1027,  2020.
• D. Patar and H. I. Bozma., “Generation of Object Candidates Through Simply Looking Around,” in IEEE Int’l Conf. on Robotics and Automation (ICRA), 2020, pp. 9456-9462.

•   H. I. Bozma, W. D. Gillam, and F. Öztürk, “Morse-Bott functions on orthogonal groups,” Topology and its Applications, vol. 265, p. 106807, 2019.

• H. I. Bozma and F. Ozturk, “An Automated Reactive Approach to Single Robot Exogeneous Planar Assembly,” in IEEE Int.’l Conf. on Robotics and Automation (ICRA), 2018, pp. 1617-1622.
• M. Demir and H. I. Bozma, “Automated Place Detection Based on Coherent Segments,” in The 12th IEEE International Conference on Semantic Computing, 2018, pp. 71-76.
• B. Hoke and H. I. Bozma, “(in Turkish) Uyarlamalı Gama Düzeltmesiyle Görünüslerde Işık Değişmezliigi ,” in Türkiye Robotbilim Konferansı, 2018, pp. 218-223.
• D. Senel, H. I. Bozma, and F. Ozturk, “Multirobot Realization based on Goal Adjacency Constraints,” in IEEE Int’l Conf. on Robotics and Automation (ICRA), 2018, pp. 1058-1063.
• K. Turksoy and H. I. Bozma, “Compact & Canonical Appearances Discovered Autonomously ,” in IEEE/RSJ Int’l Conf. on Intelligent Robots and Systems, 2018.

•  Ö. Erkent, H. Karaog̃uz, and H. Işıl. Bozma, “Hierarchically self-organizing visual place memory,” Advanced Robotics, vol. 31, iss. 16, pp. 865-879, 2017.
• E. Yel and H. I. Bozma, “Verifying the Recognized Place Through Localization,” in Workshop on Introspective Methods for Reliable Autonomy, IEEE/RSJ Int’l Conf. on Intelligent Robots and Systems, 2017.
• F. Öztürk and H. I. Bozma, “Sequential gradient dynamics in real analytic Morse systems,” Dynamical Systems, vol. 32, iss. 2, pp. 187-197, 2017.

• H. Bayram and H. I. Bozma, “Assistance networks for dynamic multirobot tasks,” Autonomous Robots, vol. 40, pp. 615-630, 2016.
•  H. Bayram and H. Işıl. Bozma, “Coalition formation games for dynamic multirobot tasks,” The International Journal of Robotics Research, vol. 35, iss. 5, pp. 514-527, 2016.
• H. Karaoguz and H. I. Bozma, “An integrated model of autonomous topological spatial cognition,” Autonomous Robots, vol. 40, pp. 1379-1402, 2016.
• H. Karaoguz and H. I. Bozma, “Developing a Spatially Cognizant Robot.,” in ICRA 2016 Workshop on AI for Long-term Autonomy, 2016.
• H. Karaoğuz and H. I. Bozma, “Merging Appearance-Based Spatial Knowledge in Multirobot Systems,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016, pp. 5107-5112.
• D. Şenel, H. I. Bozma, and F. Öztürk, “Finding optimal isomorphic goal adjacency,” in IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 4650-4655.

• B. C. Akdeniz and H. I. Bozma, “Exploration and topological map building in unknown environments,” in IEEE International Conference on Robotics and Automation (ICRA), 2015, pp. 1079-1084.
• M. Demir and H. I. Bozma, “Video summarization via segments summary graphs,” in ICCV: Video Summarization for Large-Scale Analytics Workshop (VSLSAW), 2015.
• Erkent O. and H. I. Bozma, “Long-term topological place learning,” in IEEE International Conference on Robotics and Automation (ICRA), 2015, pp. 5462-5467.
• H. Karaoguz and H. I. Bozma, “Topological place recognition based on long-term memory retrieval,” in International Conference on Advanced Robotics (ICAR), 2015, pp. 218-223.
• C. Odabasi and H. I. Bozma, “Attentively finding and moving among apples,” in Workshop on Agri-Food Robotics at IROS, 2015.

• H. Bayram and H. I. Bozma, “Coalition formation games for dynamic multirobot tasks,” in Workshop on the Algorithmic Foundations of Robotics (WAFR), 2014.
• H. Bayram and H. I. Bozma, “Decentralized network topologies in multirobot systems,” Advanced Robotics, vol. 28, iss. 14, pp. 967-982, 2014.
• S. C. Karagoz, H. I. Bozma, and D. E. Koditschek, “Coordinated navigation of multiple independent disk-shaped robots,” IEEE Transactions on Robotics, vol. 30, iss. 6, pp. 1289-1304, 2014.
• H. Karaoguz and H. I. Bozma, “Reliable topological place detection in bubble space,” in IEEE International Conference on Robotics and Automation (ICRA), 2014, pp. 697-702.
• H. Karaoguz, Ö. Erkent, and H. I. Bozma, “RGB-D based place representation in topological maps,” Machine Vision and Applications, vol. 25, iss. 8, pp. 1913-1927, 2014.

• C. B. Akdeniz and H. I. Bozma, “Local terrain mapping via 3D laser based bubble surfaces,” in European Conference on Mobile Robots (ECMR), 2013, pp. 44-49.
• H. Bayram and H. I. Bozma, “Multirobot communication network topology via centralized pairwise games,” in IEEE International Conference on Robotics and Automation (ICRA), 2013, pp. 2521-2526.
• O. Erkent and H. I. Bozma, “Integrating cue descriptors in bubble space for place recognition,” in International Conference on Computer Vision Systems, 2013, pp. 314-323.
• O. Erkent and H. I. Bozma, “Bubble Space and Place Representation in Topological Maps,” International Journal of Robotics Research, vol. 32, iss. 6, pp. 671-688, 2013.
• H. Karaoguz, H. Bayram, and H. I. Bozma, “Communication integrated control architecture in multirobot systems,” ICRA workshop on Towards fully decentralized multi-robot systems: Hardware, Software and Integration, 2013.

• H. I. Bozma and M. Kalalioglu, “Multirobot coordination in pick-and-place tasks on a moving conveyor,” Robotics and Computer-Integrated Manufacturing, vol. 28, iss. 4, pp. 530-538, 2012.
• O. Erkent and H. I. Bozma, “Place Representation in Topological Maps Based on Bubble Space,” in IEEE International Conference on Robotics and Automation (ICRA), 2012, pp. 3487-3502.
• O. Erkent and H. I. Bozma, “Artificial potential functions based camera movements and visual behaviors in attentive robots,” Autonomous Robots, vol. 32, iss. 1, pp. 15-34, 2012.

H. Bayram and H. I. Bozma, “Pairwise vs coalition game networks for multi-robot systems,” Proceedings of IFAC 18th World Congress, pp. 13750-13575, 2011.

• H. Bayram and H. I. Bozma, “Multi-robot navigation with limited communication-deterministic vs game-theoretic networks,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, pp. 1825-1830.
• H. Bayram and H. I. Bozma, “Planar multi-robot realizations of connectivity graphs using genetic algorithms,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, pp. 5163-5168.
• C. Dikici and H. I. Bozma, “Attention-based video streaming,” Signal Processing: Image Communication, vol. 25, iss. 10, pp. 745-760, 2010.

• S. Cayci, O. Erkent, and H. I. Bozma, “Attentive mobile robot visual maps via bubble memory,” Perception ECVP abstract, vol. 38, pp. 47-47, 2009.
• S. Cayci, O. Erkent, and H. I. Bozma, “Folding pathways explored with artificial potential functions,” Physical Biology, 2009.

O. Erkent and H. I. Bozma, “Color based saccades for attention control,” in 10th European Conference on Computer Vision workshop: ‘Vision in Action: Efficient strategies for cognitive agents in complex environments’, 2008.

• H. Bayram, A. Ertüzün, and H. I. Bozma, “Reactive rearrangement of parts under sensor inaccuracy: particle filter approach,” in IEEE International Conference on Robotics and Automation (ICRA), 2006, pp. 2029-2034.
• D. B. Ilhan, O. Erkent, and H. I. Bozma, “Saccades and fixating using artificial potential functions,” in IEEE/RSJ International Conference on Intelligent Robots and Systems , 2006, pp. 5819-5824.
• C. Soyer, H. I. Bozma, and Y. Istefanopulos, “Apes-biologically motivated attentive robot,” Autonomous Robots, vol. 20, pp. 61-80, 2006.

• C. Dikici and H. I. Bozma, “Video coding based on pre-attentive processing,” in Electronic Imaging, 2005, pp. 212-220.

• G. Cakiroglu and H. I. Bozma, “Dynamic integration for scene recognition using complex attentional sequences,” in Proceedings of Intelligent Autonomous Systems, 2004.
• C. S. Karagöz, H. I. Bozma, and D. E. Koditschek, “Feedback-based event-driven parts moving,” IEEE Transactions on Robotics, vol. 20, iss. 6, pp. 1012-1018, 2004.

• H. I. Bozma, G. Cakiroglu, and C. Soyer, “Biologically inspired Cartesian and non-Cartesian filters for attentional sequences,” Pattern recognition letters, vol. 24, iss. 9, pp. 1261-1274, 2003.
• C. Soyer, H. I. Bozma, and Y. Istefanopulos, “Attentional sequence-based recognition: Markovian and evidential reasoning,” IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, vol. 33, iss. 6, pp. 937-950, 2003.

• H. I. Bozma and H. Yalccin, “Visual processing and classification of items on a moving conveyor: a selective perception approach,” Robotics and Computer-Integrated Manufacturing, vol. 18, iss. 2, pp. 125-133, 2002.
• C. S. Karagöz, H. I. Bozma, and D. E. Koditschek, “EDAR-mobile robot for parts moving based on a game-theoretic approach,” Electronics Letters, vol. 38, iss. 3, pp. 147-148, 2002.
• B. H. I. Soyer C. S. and Y. Istefanopulos, “Apes: Actively Perceiving Robot,” in IEEE/RSJ International Conference on Robots and Systems, 2002.

• H. I. Bozma and D. E. Koditschek, “Assembly as a noncooperative game of its pieces: analysis of 1D sphere assemblies,” Robotica, vol. 19, iss. 01, pp. 93-108, 2001.

• C. Serkan Karaguz, H. I. Bozma, and D. E. Koditschek, “Event-driven parts moving in 2D endogenous environments,” in Robotics and Automation, 2000. Proceedings. ICRA’00. IEEE International Conference on, 2000, pp. 1076-1081.
• C. Soyer, H. I. Bozma, and Y. Istefanopulos, “A new memory model for selective perception systems,” in Intelligent Robots and Systems, 2000.(IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on, 2000, pp. 2304-2309.

• S. B. Göktürk, L. Akarun, and H. I. Bozma, “Automated inspection of PCB’s using a novel approach.,” in NSIP, 1999, pp. 180-184.