Publications

[Personal Webpage] - [Google Scholar]

Constrained Trajectory Optimization on Matrix Lie Groups via Lie-Algebraic Differential Dynamic Programming

Gokhan Alcan, Fares J. Abu-Dakka, Ville Kyrki
Systems & Control Letters
[Project Website]

Trajectory Planning and Control for Robotic Manipulation of Magnetic Capsules

Ogulcan Isitman, Gokhan Alcan, Ville Kyrki
IEEE Robotics and Automation Letters
[Project Website]

Learning Transparent Reward Models via Unsupervised Feature Selection

Daulet Baimukashev, Gokhan Alcan, Kevin Sebastian Luck, Ville Kyrki
Conference on Robot Learning (CoRL 2024)
[Project Website] - [Code]

Trajectory Optimization on Matrix Lie Groups with Differential Dynamic Programming and Nonlinear Constraints

Gokhan Alcan, Fares J. Abu-Dakka, Ville Kyrki
RSS 2024 workshop: Frontiers of optimization for robotics

Automated Feature Selection for Inverse Reinforcement Learning

Daulet Baimukashev, Gokhan Alcan, Ville Kyrki
arXiv Preprint
[Project Website] - [Code]

Constrained Trajectory Optimization for Hybrid Dynamical Systems

Pietro Noah Crestaz, Gokhan Alcan, Ville Kyrki
arXiv Preprint
[Project Website] - [Code]

Data-driven Diffusion Models for Enhancing Safety in Autonomous Vehicle Traffic Simulations

Jinxiong Lu, Shoaib Azam, Gokhan Alcan, Ville Kyrki
arXiv Preprint