Browsing Bilgisayar Mühendisliği Bölümü Koleksiyonu by Author "Kerestecioğlu, Feza"
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Active reconfigurable control of a submarine with indirect adaptive control
Demirci, Ufuk; Kerestecioğlu, Feza (2003)An indirect adaptive controller is designed for submersibles. The design is developed using a linearized MIMO model of a submarine. Standard recursive least squares estimation method is used to estimate the parameters. ... -
Connected navigation of non-communicating mobile agents
Kerestecioğlu, Feza; Cezayirli, Ahmet (IEEE, 2012)This article discusses the connectivity of autonomous mobile robots that do not have communication capabilities. We show that if the group members follow the proposed Local Steering Strategy which utilizes information only ... -
Navigation of autonomous mobile robots in connected groups
Cezayirli, Ahmet; Kerestecioğlu, Feza (IEEE, 2008)The navigation of autonomous mobile robots as a group is considered in this paper. Definitions adopted from the graph theory are given to characterize the robot group. A local steering strategy is proposed such that when ... -
Navigation of non-communicating autonomous mobile robots with guaranteed connectivity
Cezayirli, Ahmet; Kerestecioğlu, Feza (Cambridge Univ Press, 2013)We consider the connectivity of autonomous mobile robots. The robots navigate using simple local steering rules without requiring explicit communication among themselves. We show that using only position information of ... -
A non-communicating multi-robot system with switchable formations
Cezayirli, Ahmet; Kerestecioğlu, Feza (2013)We consider connected navigation of autonomous mobile robots with transitions in the group formation. The robots navigate using simple local steering rules without requiring explicit communication among themselves. The ... -
Nonuniform sampling for detection of abrupt changes
Kerestecioğlu, Feza; Tokat, Sezai (Birkhauser Boston Inc, 2003)In this work detection of abrupt changes in continuous-time linear stochastic systems and selection of the sampling interval to improve the detection performance are considered. Cost functions are proposed to optimize both ... -
On preserving connectivity of autonomous mobile robots
Cezayirli, Ahmet; Kerestecioğlu, Feza (IEEE, 2009)The connectivity of the autonomous mobile robots is considered in this paper. The group navigation is provided using simple local steering rules and without any explicit communication. Sub-optimal solutions are invoked to ... -
Optimal input design for the detection of changes towards unknown hypotheses
Kerestecioğlu, Feza; Cetin, I (Taylor & Francis Ltd, 2004)The effects of auxiliary input signals on detecting changes in ARMAX processes via statistical tests are discussed. Two extensions to the Cumulative Sum Test are considered. The first is applicable when the direction of ... -
A re-configuring sliding-mode controller with a ustable robustness
Demirci, Ufuk; Kerestecioğlu, Feza (Pergamon-Elsevier Science Ltd, 2004)In this paper a controller design method for underwater vehicles is presented which is based on re-configuration of a sliding-mode controller in case of disturbances caused by shallow water conditions. The disturbance ... -
Zero-crossing based demodulation of minimum shift keying
Kalkan, Mine; Kerestecioğlu, Feza (2003)Minimum shift keying (MSK) modulation has features such as constant envelope compact spectrum and good error performance which are all desirable in many digital applications including mobile radio. Numerous receiver ...