PhD. Candidate

Email: bdeniz [at]

I am a Ph.D. candidate in the Electrical and Systems Engineering Department at the University of Pennsylvania where I am affiliated with Kod*Lab which is a subsidiary of GRASP Laboratory.

I received my Electrical and Electronics Engineering degree in 2007, from Bogazici University, Istanbul, Turkey where I had been affiliated with the Intelligent Systems Laboratory from 2004 to 2007.

My main interest is to understand the basics of and design controllers for a robot which only uses its own sensory capabilities to comprehend its environment where it’s likely that the environment contains a group of robots who are trying to perform some cooperative task. I am also interested in the necessary and sufficient sensory data combination to accomplish such tasks.

Current Projects

  • Simplicial machines in vision-based formation control
  • Bidirectional inter-agent relations in vision-based formation control
  • Battery protection and monitoring circuitry of X-RHex
  • Maintenance and update of mechanics, electronics and software infrastructure of current research EduBot’s

Former Projects

  • Update of the battery management and monitoring circuitry of EduBot’s
  • Maintenance, update and mobilization of APES
  • Use of artifical potential functions for saccades and fixation
  • A fast omnidirectional vision based distance measurement method for unicycles
  • A hybrid approach to collision avoidance

Teaching Practicum

Projects Supervised

Senior Design Projects

  • Autonomous Navigation for Edubot by Sam Russem, Cameron Finucane and Helen Kim (with Mackenzie White) (2008–2009)


Conference Papers

Yapay Gizilgüç Islevleriyle Odaklanma Amaçli Hizli Hareketler (In Turkish)
B. Deniz Ilhan and Ozgur Erkent and H. Isil Bozma
Proceedings of TOK (Turkish National Committee of Automatic Control) National Conference on Automatic Control, November 2006.

Saccades and Fixating Using Artificial Potential Functions
B. Deniz Ilhan and Ozgur Erkent and H. Isil Bozma
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2006.