Publications – Gökhan Alcan https://www.gokhanalcan.com Assistant Professor @ Tampere University Tue, 10 Mar 2026 18:42:20 +0000 en-US hourly 1 https://wordpress.org/?v=6.9.4 https://www.gokhanalcan.com/wp-content/uploads/2019/07/cropped-GAFav-32x32.png Publications – Gökhan Alcan https://www.gokhanalcan.com 32 32 137249599 Receding-Horizon Nullspace Optimization for Actuation-Aware Control Allocation in Omnidirectional UAVs https://www.gokhanalcan.com/pubs/riccardo2026arxiv/?utm_source=rss&utm_medium=rss&utm_campaign=riccardo2026arxiv Tue, 10 Mar 2026 18:42:20 +0000 https://www.gokhanalcan.com/?post_type=publications&p=1419 1419 Adaptive Modular Geometric Control of Robotic Manipulators https://www.gokhanalcan.com/pubs/mahdi2026arxiv/?utm_source=rss&utm_medium=rss&utm_campaign=mahdi2026arxiv Thu, 05 Mar 2026 10:04:09 +0000 https://www.gokhanalcan.com/?post_type=publications&p=1418 1418 Constrained Trajectory Optimization on Matrix Lie Groups via Lie-Algebraic Differential Dynamic Programming https://www.gokhanalcan.com/pubs/alcan2025scl/?utm_source=rss&utm_medium=rss&utm_campaign=alcan2025scl Fri, 06 Jan 2023 13:26:43 +0000 https://www.gokhanalcan.com/?post_type=publications&p=1006 1006 Trajectory Planning and Control for Robotic Magnetic Manipulation https://www.gokhanalcan.com/pubs/isitman2024arxiv/?utm_source=rss&utm_medium=rss&utm_campaign=isitman2024arxiv Tue, 26 Nov 2024 10:26:24 +0000 https://www.gokhanalcan.com/?post_type=publications&p=1395 1395 Constrained Trajectory Optimization for Hybrid Dynamical Systems https://www.gokhanalcan.com/pubs/pietro2024arxiv/?utm_source=rss&utm_medium=rss&utm_campaign=pietro2024arxiv Thu, 31 Oct 2024 07:23:35 +0000 https://www.gokhanalcan.com/?post_type=publications&p=1391 1391 Learning Transparent Reward Models via Unsupervised Feature Selection https://www.gokhanalcan.com/pubs/daulet2024corl/?utm_source=rss&utm_medium=rss&utm_campaign=daulet2024corl Tue, 29 Oct 2024 11:48:58 +0000 https://www.gokhanalcan.com/?post_type=publications&p=1381 1381 Data-driven Diffusion Models for Enhancing Safety in Autonomous Vehicle Traffic Simulations https://www.gokhanalcan.com/pubs/lu2024arxiv/?utm_source=rss&utm_medium=rss&utm_campaign=lu2024arxiv Tue, 08 Oct 2024 13:22:55 +0000 https://www.gokhanalcan.com/?post_type=publications&p=1369 1369 Trajectory Optimization on Matrix Lie Groups with Differential Dynamic Programming and Nonlinear Constraints https://www.gokhanalcan.com/pubs/alcan2024rssws/?utm_source=rss&utm_medium=rss&utm_campaign=alcan2024rssws Tue, 08 Oct 2024 13:40:42 +0000 https://www.gokhanalcan.com/?post_type=publications&p=1373 1373 Automated Feature Selection for Inverse Reinforcement Learning https://www.gokhanalcan.com/pubs/baimukashev2024arxiv/?utm_source=rss&utm_medium=rss&utm_campaign=baimukashev2024arxiv Tue, 26 Mar 2024 08:29:13 +0000 https://www.gokhanalcan.com/?post_type=publications&p=1338 1338 Benchmarking the Sim-to-Real Gap in Cloth Manipulation https://www.gokhanalcan.com/pubs/mulero2023ral/?utm_source=rss&utm_medium=rss&utm_campaign=mulero2023ral Thu, 12 Oct 2023 12:54:10 +0000 https://www.gokhanalcan.com/?post_type=publications&p=1064 1064