Alp Sahin

PhD Student in AIRLab @ Lehigh University

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I am Alp, a PhD student in the Mechanical Engineering & Mechanics Department at Lehigh University. Currently, I am working at the Autonomous and Intelligent Robotics Laboratory (AIRLab) with Professor Subhrajit Bhattacharya on topological and geometrical path planning algorithms. Before I joined Lehigh, I was a Master’s student in the Robotics Engineering Department at Worcester Polytechnic Institute (WPI). While at WPI, I worked at the Manipulation & Environmental Robotics (MER Lab) with Professor Berk Calli on planning methods for in-hand manipulation and written my Master’s thesis on the same subject.

selected publications

2024

  1. Topo-Geometrically Distinct Path Computation Using Neighborhood-Augmented Graph, and Its Application to Path Planning for a Tethered Robot in 3D
    Alp Sahin, and Subhrajit Bhattacharya
    IEEE Transactions on Robotics, 2024
  2. Resonance Reduction Against Adversarial Attacks in Dynamic Networks via Eigenspectrum Optimization
    Alp Sahin, Nicolas Kozachuk, Rick S. Blum, and 1 more author
    2024
  3. Efficient Data Collection for Connected Vehicles With Embedded Feedback-Based Dynamic Feature Selection
    Zhuo Wang, Alp Sahin, and Xiangrui Zeng
    IEEE Transactions on Intelligent Vehicles, 2024
  4. Real-Time Joystick-based Kinematics Control of a Snake-like Robot with Robustness Near Singular Configurations
    Alp Sahin, Stephen Brawner, Matt Bilsky, and 1 more author
    In 2024 IEEE Conference on Control Technology and Applications (CCTA), 2024

2023

  1. Coordination-free Multi-robot Path Planning for Congestion Reduction Using Topological Reasoning
    Xiaolong Wang, Alp Sahin, and Subhrajit Bhattacharya
    Journal of Intelligent & Robotic Systems, Jul 2023

2021

  1. Feedback-Based Dynamic Feature Selection for Constrained Continuous Data Acquisition
    Alp Sahin, and Xiangrui Zeng
    In 2021 American Control Conference (ACC), Jul 2021
  2. Region-Based Planning for 3D Within-Hand-Manipulation via Variable Friction Robot Fingers and Extrinsic Contacts
    Alp Sahin, Adam J. Spiers, and Berk Calli
    In 2021 IEEE International Conference on Robotics and Automation (ICRA), Jul 2021