Feza Kerestecioğlu

Kerestecioğlu, Feza

Name Variants

Kerestecioglu F.
K., Feza
Feza Kerestecioğlu
Kerestecioğlu F.
Kerestecioǧlu F.
Kerestecioglu,F.
FEZA KERESTECIOĞLU
Kerestecioğlu, F.
Kerestecioğlu,F.
KERESTECIOĞLU, Feza
KERESTECIOĞLU, FEZA
K.,Feza
Feza KERESTECIOĞLU
Kerestecioğlu, FEZA
Feza, Kerestecioglu
Kerestecioglu,Feza
F. Kerestecioğlu
Kerestecioglu, Feza
Kerestecioğlu, Feza
Keresteci˙oğlu,F.
Kerestecioglu, F.

Job Title

Prof. Dr.

Email Address

kerestec@khas.edu.tr

Main Affiliation

Computer Engineering

Scholarly Output

24

Articles

10

Citation Count

70

Supervised Theses

1 Scholarly Output Search Results

Now showing 1 - 10 of 24

Citation - WoS: 0
Circular Formations of Non-Communicating Robot Groups Via Local Strategies
(Sage Publications Ltd, 2023) Kerestecioglu, Feza; Kerestecioğlu, Feza; Sen, Uemit; Isikver, Cagri; Goktekin, Ahmet
Local strategies, which are based on cost minimization, to achieve circular formations of autonomous robot groups are presented. It is assumed that the group members have no communication capabilities or any means of interchanging information among themselves, and that they can only rely on their sensors, which provide relative positions of their nearby group members. It is verified on simulations that via appropriately defined cost functions arc, arc-triangle and circle formations are obtained, which can be maintained during navigation.
Citation - WoS: 0
Citation - Scopus: 6
Indoor Positioning Using Federated Kalman Filter
(Institute of Electrical and Electronics Engineers Inc., 2018) Ayabakan, Tarık; Kerestecioğlu, Feza; Kerestecioğlu, Feza
In this paper, the performance of a multi-sensor fusion technique, namely Federated Kalman Filter (FKF) is studied in the context of indoor positioning problem. Kalman filters having centralized and decentralized structures are widely used in outdoor positioning and navigation applications. Global Positioning System (GPS) is the most commonly used system for outdoor positionin/navigation, which cannot be used indoors due to the signal loss. In this study, a decentralized structure for FKF is applied in indoor positioning problem by taking its outdoor navigation performance into consideration. Simulations are performed with distance measurements, which are assumed to be calculated by using Received Signal Strength (RSS). Results gathered via different simulations are evaluated as promising for future studies.
Citation - WoS: 2
Nonuniform Sampling for Detection of Abrupt Changes
(Birkhauser Boston Inc, 2003) Kerestecioğlu, Feza; Kerestecioğlu, Feza; Tokat, Sezai
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 uniform and nonuniform sampling intervals for the well-known cumulative sum algorithm. Some iterative techniques are presented to make online optimization computationally feasible. It is shown that considerable improvement in the detection performance can be obtained by using nonuniform sampling intervals.
Citation - WoS: 2
Citation - Scopus: 8
Navigation of Autonomous Mobile Robots in Connected Groups
(IEEE, 2008) Cezayirli, Ahmet; Kerestecioğlu, Feza; Kerestecioğlu, Feza
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 - Scopus: 6
Fault Tolerant Control With Re-Configuring Sliding-Mode Schemes
(2005) Demirci, Ufuk; Kerestecioğlu, Feza; Kerestecioğlu, Feza
In this paper a controller design method for linear MIMO systems is presented which a sliding mode controller is reconfigured in case of system faults. Faults are detected with the residual vector generated from a standard linear observer. Once a fault has been detected the fault distribution matrix can be obtained and used to update the corrective or equivalent control parts of the sliding mode controller. As a result fault tolerant adaptive controllers keep the system performance within acceptable limits or at least avoids the system to wind-up. © TÜBITAK.
Citation - WoS: 8
Citation - Scopus: 11
RSSI-Based Indoor Positioning via Adaptive Federated Kalman Filter
(IEEE-Inst Electrical Electronics Engineers Inc, 2022) Kerestecioğlu, Feza; Kerestecioglu, Feza
In this paper, federated Kalman filter (FKF) is applied for indoor positioning. Position information that is multi-laterated from the distance information obtained using the received signal strengths collected from several access points are processed in a FKF to estimate the position of the target. Two approaches are presented to adjust the information-sharing coefficients of FKF using online measurements. The data collected on a test bed composed of four access points are used to assess and compare the performances of the proposed algorithms. It is shown that the estimation error can be improved considerably by adjusting the information-sharing coefficients online.
Citation - WoS: 7
Indoor Positioning Using Federated Kalman Filter
(IEEE, 2018) Aybakan, Tarik; Kerestecioğlu, Feza; Kerestecioglu, Feza
In this paper, the performance of a multi-sensor fusion technique, namely Federated Kalman Filter (FKF) is studied in the context of indoor positioning problem. Kalman filters having centralized and decentralized structures are widely used in outdoor positioning and navigation applications. Global Positioning System (GI'S) is the most commonly used system for outdoor positioning/navigation, which cannot be used indoors due to the signal loss. In this study, a decentralized structure for FKF is applied in indoor positioning problem by taking its outdoor navigation performance into consideration. Simulations are perl4med with distance measurements, which are assumed to be calculated by using Received Signal Strength (RSS). Results gathered via different simulations are evaluated as promising for future studies.
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
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 - WoS: 5
Citation - Scopus: 6
Multi-Sensor Indoor Positioning
(Institute of Electrical and Electronics Engineers Inc., 2019) Kerestecioğlu, Feza; Kerestecioğlu, Feza
In this paper, the performance of three different kinds of Kalman Filter (KF) structure: Single Kalman Filter (SKF)(which filters data of a single sensor), Centralized Kalman Filter (CKF) and Federated Kalman Filter (FKF) are studied considering the indoor positioning problem. Kalman filters are widely used in outdoor positioning and navigation applications providing good results. For multi-sensor applications, KF has centralized and decentralized structures. In this study, multisensor and single-sensor dedicated Kalman filter structures FKF, CKF and SKF are applied in indoor positioning problem by taking its outdoor navigation performance into consideration. Received Signal Strength (RSS) data are generated, from which distance information, a vital part of the simulations, are obtained. Three different noise levels are used to assess performance of filters. Results gathered via different simulations showed that multi-sensor structures provide a better solution than single sensor structures.
Citation - WoS: 12
Citation - Scopus: 14
Optimal Input Design for the Detection of Changes Towards Unknown Hypotheses
(Taylor & Francis Ltd, 2004) Kerestecioğlu, Feza; Kerestecioğlu, Feza; Cetin, I
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 the change in the parameter space is known but its magnitude is unknown. The second is applicable when neither is known. The performance criteria for the design of stationary stochastic inputs are based on the asymptotic properties of the tests. It is shown that power-constrained optimal inputs have discrete spectra and a suitably chosen input can greatly improve the detection performance.