# Formation Control of Multiple Autonomous Mobile Robots Using Turkish Natural Language Processing
## 4 Materials and Methods
### Proposed NLP-Based Command-Creation Model
#### 4.1.1 Sentence Analysis
Creating a Flow Sequence  
After the essential analysis and parsing, a step was carried out to extract the flow order of sentences that contain more than one task and are parsed with specific words. What is meant by flow order here is which task should be carried out first. For example, if we take the sentence \"Kapiyi gectikten sonra yerdeki kutuyu al. (\"After passing the door, pick up the box on the floor.\")\", the first task is to \"kapiyi gecme (\"pass the door\")\", and the second task is to pick up the \"yerdeki kutuyu (\"box on the floor\")\". Here, rules are created based on time-indicating words such as \"once (\"before\")\" and \"sonra (\"after\")\" in the sentence. A sample demonstration in which all these operations are performed is as follows. Below is the analysis made by the application for the expression \"Robot lieriye git (\"Robot go forward\")\":  
\"robot/noun\"; \"lieriye/noun\"; \"git/verb\";  
\"subject/robot\"; \"complement/ileri (\"forward\")\"; \"predicate/git (\"go\")\". With the predicate obtained as a result of the analysis, the operation to be performed and the direction information are obtained with the complement of the sentence. In this process, the conjunctions that can determine the orders of operation of the given sentences were identified, and the operations in the given expression were ordered according to these \begin{table}
\begin{tabular}{c c c c c c} \hline \hline
**Solution** & **Turkish Root** & \begin{tabular}{c} **Turkish** \\ **Equivalent** \\ \end{tabular} & \
\begin{tabular}{c} **English** \\ **Translation** \\ \end{tabular} &
\begin{tabular}{c} **Word** \\ **Type** \\ \end{tabular} & **Meaning** \\ \hline
1 & Boyun & Boyun & Neck & Noun & an area on the body \\
2 & Boy & Uzunluk & Length & Noun & the size of an object \\
3 & Boy & Kabile & Tribe/Clan & Noun & a group of persons \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Morphological analysis of the Turkish word “boyun”. conjunctions. As an initial study, the order of the operations was determined by checking the conjunction \"sonra (\"then\")\" in the command statement entered into the system. Another example of the expression \"Robot lieriye git sonra sola don (\"Robot go forward then turn left\")\" is analyzed as follows:  
First action:  
\"subject/robot\"; \"complement/ileri (\"forward\")\"; \"predicate/git (\"go\")\". Second action:  
\"complement/sol (\"left\")\"; \"predicate/don (\"turn\")\". The word \"sonra (\"after\")\" in the expression shown in the example above indicates time and sequence. When the application sees the word after, it understands that the actions should be performed sequentially and sends the statements to the robot control system in this order. The third improvement in sentence analysis is the addition of numerical units of measurement. The following example illustrates the new additions to the program. \"Robot,iki metre ileriye git sonra kirk bes dereece sola don. (\"Robot, move forward two meters and then turn forty-five degrees to the left.\")\". Here, the numbers are decomposed through a dependency analysis. Our parsing methodology for creating commands for such sentences with multiple actions is described in more detail in the next section.