Browsing by Author "Cezayirli, Ahmet"

Now showing 1 - 5 of 5

Citation - Scopus: 1
Connected Navigation of Non-Communicating Mobile Agents
(IEEE, 2012) Kerestecioğlu, Feza; Kerestecioğlu, Feza; Cezayirli, Ahmet; Computer Engineering
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 about the relative positions of neighbor robots they can sustain their connectivity even in the case of bounded position measurement errors and the occultation of robots by other robots in the group. To reduce the computational burden in the implementation of the proposed methodology we used sub-optimal solutions. © 2012 IEEE.
Citation - WoS: 2
Citation - Scopus: 8
Navigation of Autonomous Mobile Robots in Connected Groups
(IEEE, 2008) Cezayirli, Ahmet; Kerestecioğlu, Feza; Kerestecioğlu, Feza; Computer Engineering
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 each robot in the group applies this steering scheme the overall result is that the whole group is displaced without losing its connectivity. This is achieved using only limited-range position sensors and without any communication between the robots.
Citation - WoS: 9
Citation - Scopus: 9
Navigation of Non-Communicating Autonomous Mobile Robots With Guaranteed Connectivity
(Cambridge Univ Press, 2013) Cezayirli, Ahmet; Kerestecioğlu, Feza; Kerestecioğlu, Feza; Computer Engineering
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 neighbors the group connectivity can be sustained even in the case of bounded position measurement errors and the occlusion of robots by other robots in the group. In implementing the proposed scheme sub-optimal solutions are invoked to avoid an excessive computational burden. We also discuss the possibility of deadlock which may bring the group to a standstill and show that the proposed methodology avoids such a scenario in real-life settings.
Citation - Scopus: 1
A Non-Communicating Multi-Robot System With Switchable Formations
(2013) Cezayirli, Ahmet; Kerestecioğlu, Feza; Kerestecioğlu, Feza; Computer Engineering
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 formations are achieved by designing proper cost functions and formation transitions are succeeded by switching among these cost functions. The resulting system is proven to be deadlock-free under certain conditions. © 2013 IEEE.
Citation - WoS: 1
Citation - Scopus: 6
On Preserving Connectivity of Autonomous Mobile Robots
(IEEE, 2009) Cezayirli, Ahmet; Kerestecioğlu, Feza; Kerestecioğlu, Feza; Computer Engineering
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 avoid computational cost. We show that the connectivity of the group is preserved during the whole motion in spite of bounded measurement errors on angles and distances. Some special cases of group topology are also discussed.