Foundations of Perception Engineering

Project Information

ILLUSIVE

Grant agreement ID: 101020977

DOI

10.3030/101020977

EC signature date 21 July 2021

Start date 1 August 2021

End date 31 July 2026

Funded under

• EXCELLENT SCIENCE - European Research Council (ERC)

Total cost

€ 2 496 578,00

EU contribution

€ 2 496 578,00

Coordinated by

OULUN YLIOPISTO
Finland

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Publications

Conference proceedings (9)

HI-DWA: Human-influenced dynamic window approach for shared control of a telepresence robot

Author(s): Kalliokoski J, Sakçak B, Suomalainen M, Mimnaugh KJ, Chambers AP, Ojala T, LaValle SM
Published in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, Page(s) 7696-7703, ISBN 978-1-6654-7927-1
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9981367

Investigating a simple technique to alter viewpoint height in immersive 360° video

Author(s): Evan G. Center, Adhi Widagdo, Matti Pouke, Markku Suomalainen, Katherine J. Mimnaugh, Abdulsatar Aboud, Timo Ojala, Steven M. LaValle
Published in: 2024 IEEE Conference on Telepresence, 2025, Page(s) 131-138
Publisher: IEEE
DOI: 10.1109/telepresence63209.2024.10841573

Visibility-Inspired Models of Touch Sensors for Navigation

Author(s): Tiwari K, Sakçak B, Routray R, Manivannan M, LaValle SM
Published in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, Page(s) 13151-13158, ISBN 978-1-6654-7927-1
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9981084

Unwinding Rotations Reduces VR Sickness in Nonsimulated Immersive Telepresence

Author(s): Filip Kulisiewicz, Basak Sakcak, Evan G. Center, Juho Kalliokoski, Katherine J. Mimnaugh, Steven M. LaValle, Timo Ojala
Published in: 2025 IEEE International Symposium on Mixed and Augmented Reality (ISMAR), 2025, Page(s) 219-227
Publisher: IEEE
DOI: 10.1109/ismar67309.2025.00034

Leaning-based control of an immersive-telepresence robot

Author(s): Halkola J, Suomalainen M, Sakçak B, Mimnaugh KJ, Kalliokoski J, Chambers AP, Ojala T, LaValle SM
Published in: 2022 IEEE International Symposium on Mixed and Augmented Reality (ISMAR), 2022, Page(s) 576-583, ISBN 978-1-6654-5325-7
Publisher: IEEE
DOI: 10.1109/ismar55827.2022.00074

Bang-Bang Boosting of RRTs

Author(s): LaValle AJ, Sakçak B, LaValle SM
Published in: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, Page(s) 2869-2876, ISBN 978-1-6654-9190-7
Publisher: IEEE
DOI: 10.1109/iros55552.2023.10341760

Unwinding rotations improves user comfort with immersive telepresence robots

Author(s): Suomalainen M, Sakçak B, Widagdo A, Kalliokoski J, Mimnaugh KJ, Chambers AP, Ojala T, LaValle SM
Published in: 2022 ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2022, Page(s) 511-520
Publisher: IEEE Press
DOI: 10.5555/3523760.3523828

Comfort and sickness while virtually aboard an autonomous telepresence robot

Author(s): Suomalainen M, Mimnaugh KJ, Becerra I, Lozano E, Murrieta-Cid R, LaValle SM
Published in: Lecture notes in computer science, Issue 13105, 2021, Page(s) 3-24, ISBN 978-3-030-90738-9
Publisher: Springer Nature
DOI: 10.1007/978-3-030-90739-6_1

Improving Immersive Telepresence Locomotion by Using a Virtual Environment as an Interface to a Physical Environment (VEIPE)

Author(s): Eetu Laukka, Evan G. Center, Basak Sakcak, Steven M. LaValle, Timo Ojala, Matti Pouke
Published in: 2024 IEEE Conference on Telepresence, 2025, Page(s) 209-216
Publisher: IEEE
DOI: 10.1109/telepresence63209.2024.10841552

Peer reviewed articles (16)

Corresponding Colors in Virtual Reality: A Proof of Concept

Author(s): Nicoletta Prencipe, Mikki Hiltunen, Lauri Klemettilä, Evan G. Center, Matti Pouke, Anna Yershova, Timo Ojala, Steven M. LaValle
Published in: Color and Imaging Conference, Issue 32, 2025, Page(s) 41-46, ISSN 2166-9635
Publisher: Society for Imaging Science & Technology
DOI: 10.2352/cic.2024.32.1.9

Adaptation to Simulated Hypergravity in a Virtual Reality Throwing Task

Author(s): Pouke M, Uotila E, Center EG, Timperi KG, Chambers A, Ojala T, LaValle SM
Published in: ACM Transactions on Applied Perception, Issue 21(2)(8), 2024, Page(s) 1-23, ISSN 1544-3558
Publisher: Association for Computing Machinary, Inc.
DOI: 10.1145/3643849

The body scaling effect and its impact on physics plausibility

Author(s): Pouke M, Center EG, Chambers AP, Pouke S, Ojala T, LaValle SM
Published in: Frontiers in Virtual Reality, Issue 3, 2022, Page(s) 869603, ISSN 2673-4192
Publisher: Frontiers Media
DOI: 10.3389/frvir.2022.869603

Convex embeddability and knot theory

Author(s): Martina Iannella, Alberto Marcone, Luca Motto Ros, Vadim Weinstein
Published in: Transactions of the American Mathematical Society, Issue 378, 2026, Page(s) 2745-2796, ISSN 0002-9947
Publisher: American Mathematical Society
DOI: 10.1090/tran/9334

An enactivist-inspired mathematical model of cognition

Author(s): Weinstein V, Sakçak B, LaValle SM
Published in: Frontiers in Neurorobotics, Issue 30, 2022, Page(s) 01-24, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2022.846982

The cat is out of the bag: the effect of virtual characters and scale cues on physics coherence

Author(s): Matti Pouke, Sakaria Pouke, Evan G. Center, Alexis P. Chambers, Timo Ojala, Steven M. LaValle
Published in: Frontiers in Virtual Reality, Issue 5, 2024, Page(s) 1250618, ISSN 2673-4192
Publisher: Frontiers
DOI: 10.3389/frvir.2024.1250618

Separating Intrinsic and Extrinsic Responses of Whisker Sensors Using Accelerometer

Author(s): Prasanna K. Routray, Debadutta Subudhi, Basak Sakcak, Steven M. LaValle, Pauline Pounds, M. Manivannan
Published in: IEEE Sensors Journal, Issue 24, 2024, Page(s) 34635-34644, ISSN 1530-437X
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/jsen.2024.3452206

The Brain's Sensitivity to Real-world Statistical Regularity Does Not Require Full Attention

Author(s): Evan G. Center, Kara D. Federmeier, Diane M. Beck
Published in: Journal of Cognitive Neuroscience, Issue 36, 2025, Page(s) 1715-1740, ISSN 0898-929X
Publisher: Cambridge Center for Behavioral Studies
DOI: 10.1162/jocn_a_02181

Virtual body ownership affects the processing of sensorimotor contingencies and goal-oriented information extraction, but not semantics

Author(s): Evan G. Center, Matti Pouke, Alessandro Nardi, Lukas Gehrke, Klaus Gramann, Timo Ojala, Steven M. LaValle
Published in: NeuroImage, Issue 327, 2026, Page(s) 121715, ISSN 1053-8119
Publisher: Academic Press
DOI: 10.1016/j.neuroimage.2026.121715

Split-Quaternions for Perceptual White Balance: A quantum information-based chromatic adaptation transform [Hypercomplex Signal and Image Processing]

Author(s): Michel Berthier, Nicoletta Prencipe, Edoardo Provenzi
Published in: IEEE Signal Processing Magazine, Issue 41, 2024, Page(s) 42-50, ISSN 1053-5888
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/msp.2024.3349460

From virtual reality to the emerging discipline of perception engineering

Author(s): LaValle SM, Center EG, Ojala T, Pouke M, Prencipe N, Sakçak B, Suomalainen M, Timperi KG, Weinstein V
Published in: Annual Review of Control, Robotics, and Autonomous Systems, Issue 7, 2024, ISSN 2573-5144
Publisher: Annual Reviews
DOI: 10.1146/annurev-control-062323-102456

Virtual Reality Sickness Reduces Attention During Immersive Experiences

Author(s): Mimnaugh KJ, Center EG, Suomalainen M, Becerra I, Lozano E, Murrieta-Cid R, Ojala T, LaValle SM, Federmeier KD
Published in: IEEE Transactions on Visualization and Computer Graphics, Issue 29(11), 2023, Page(s) 4394-4404, ISSN 1077-2626
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tvcg.2023.3320222

A survey of robot manipulation in contact

Author(s): Suomalainen M, Karayiannidis Y, Kyrki V
Published in: Robotics and Autonomous Systems, Issue 156, 2022, Page(s) 104224, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2022.104224

From “skype on wheels” to embodied telepresence: a holistic approach to improving the user experience of telepresence robots

Author(s): Ivan A. Aguilar, Markku Suomalainen, Steven M. LaValle, Timo Ojala, Bernhard E. Riecke
Published in: Virtual Reality, Issue 29, 2025, ISSN 1434-9957
Publisher: Springer Science and Business Media LLC
DOI: 10.1007/s10055-025-01222-0

Augmenting immersive telepresence experience with a virtual body

Author(s): Arora N, Suomalainen M, Pouke M, Center EG, Mimnaugh KJ, Chambers AP, Pouke S, LaValle SM
Published in: IEEE Transactions on Visualization and Computer Graphics, Issue 28(5), 2022, Page(s) 2135-2145, ISSN 1077-2626
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tvcg.2022.3150473

A mathematical characterization of minimally sufficient robot brains

Author(s): Sakçak B, Timperi KG, Weinstein V, LaValle SM
Published in: The International Journal of Robotics Research, Issue 43(9), 2023, Page(s) 1342-1362, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/02783649231198898

Book chapters (1)

The Limits of Learning and Planning: Minimal Sufficient Information Transition Systems

Author(s): Sakçak B, Weinstein V, LaValle SM
Published in: Algorithmic Foundations of Robotics XV. WAFR 2022. Springer Proceedings in Advanced Robotics, Issue 25, 2023, Page(s) 256-272, ISBN 978-3-031-21089-1
Publisher: Springer Nature
DOI: 10.1007/978-3-031-21090-7_16