Nusrettin Gulec - Academia.edu (original) (raw)
Uploads
Papers by Nusrettin Gulec
Airborne Intelligence, Surveillance, Reconnaissance (ISR) Systems and Applications IX, 2012
ABSTRACT An explicit way of facilitating approach and landing operations of fixed-wing aircraft i... more ABSTRACT An explicit way of facilitating approach and landing operations of fixed-wing aircraft in degraded visual environments is presenting a coherent image of the designated runway via vision systems and hence increasing the situational awareness of the flight crew. Combined vision systems, in general, aim to provide a clear view of the aircraft exterior to the pilots using information from databases and imaging sensors. This study presents a novel method that consists of image-processing and tracking algorithms, which utilize information from navigation systems and databases along with the images from daylight and infrared cameras, for the recognition and tracking of the designated runway through the approach and landing operation. Video data simulating the straight-in approach of an aircraft from an altitude of 5000 ft down to 100 ft is synthetically generated by a COTS tool. A diverse set of atmospheric conditions such as fog and low light levels are simulated in these videos. Detection and false alarm rates are used as the primary performance metrics. The results are presented in a format where the performance metrics are compared against the altitude of the aircraft. Depending on the visual environment and the source of the video, the performance metrics reach up to 98% for DR and down to 5% for FAR.
31st Annual Conference of IEEE Industrial Electronics Society, 2005. IECON 2005., 2005
ABSTRACT Modeling coordinated motion of a group of autonomous mobile robots has received signific... more ABSTRACT Modeling coordinated motion of a group of autonomous mobile robots has received significant research interest in the last decade. Previous studies have revealed that avoiding collisions with obstacles and other robots is one of the main problems in the area. Considerable amount of research effort has been concentrated on the definition of virtual forces for the generation of reference trajectories for a group of autonomous mobile robots engaged in coordinated behavior. If the mobile robots are nonholonomic, this approach fails to guarantee regulation of the tracking errors since the reference trajectories might not satisfy the nonholonomic constraint. In this work, we introduce a novel coordinated motion model inclusive of a new online collision avoidance algorithm. The proposed model enables online generation of reference trajectories for coordination among a group of autonomous nonholonomic mobile robots in terms of their linear and angular velocities; hence the reference trajectory automatically satisfies the nonholonomic constraint. Several coordinated task examples have been presented and the proposed model is verified through simulations.
Lecture Notes in Computer Science, 2005
The coordinated motion of a group of autonomous mobile robots performing a coordinated task has b... more The coordinated motion of a group of autonomous mobile robots performing a coordinated task has been of high interest in the last decade. Previous research has shown that one of the main problems in the area is to avoid collisions of the robots with obstacles and other members of the group. In this work, we develop a novel coordination scheme along with a new online collision avoidance algorithm. In the proposed algorithm, reference trajectories for a group of autonomous mobile robots are generated in terms of linear and angular velocities of the robots. Several coordinated tasks have been presented and the results are verified by simulations.
Proceedings of the 44th IEEE Conference on Decision and Control, 2005
The coordinated motion of a group of autonomous mobile robots for the achievement of a goal has b... more The coordinated motion of a group of autonomous mobile robots for the achievement of a goal has been of high interest in the last decade. Previous research has revealed that one of the essential problems in the area is to avoid collision of the robots with obstacles and each other while they still achieve the goal. In this work, we develop a novel coordination scheme for a group of mobile robots and a new online collision avoidance algorithm. Several coordinated tasks have been presented and the proposed scheme is verified by simulations.
9th IEEE International Workshop on Advanced Motion Control, 2006., 2006
Coordinated task manipulation by a group of autonomous mobile robots has received significant res... more Coordinated task manipulation by a group of autonomous mobile robots has received significant research effort in the last decade. Previous studies in the area revealed that one of the main problems in the area is to avoid the collisions of the robots with obstacles as well as with other members of the group. Another problem is to come up with a model for successful task manipulation. Significant research effort has accumulated on the definition of forces to generate reference trajectories for each autonomous mobile robots engaged in coordinated behavior. If the mobile robots are nonholonomic, this approach fails to guarantee successful manipulation of the task since the so-generated reference trajectories might not satisfy the nonholonomic constraint. In this work, we introduce a novel coordinated task manipulation model inclusive of an online collision avoidance algorithm. The reference trajectory for each autonomous nonholonomic mobile robot is generated online in terms of linear and angular velocity references for the robot; hence these references automatically satisfy the nonholonomic constraint. The generated reference velocities inevitably depend on the nature of the specified coordinated task. Several coordinated task examples, on the basis of a generic task, have been presented and the proposed model is verified through simulations.
... Prof. Dr. Mahmut F. Aksit and Assist. Prof. Dr. Husnu Yenigun for spending their valuable ...... more ... Prof. Dr. Mahmut F. Aksit and Assist. Prof. Dr. Husnu Yenigun for spending their valuable ... the purest person I ever met, Firuze Ilkoz, who has always supported me without question, Eray Korkmaz, whose friendship was stronger than anything, Onur Ozcan, ...
Airborne Intelligence, Surveillance, Reconnaissance (ISR) Systems and Applications IX, 2012
ABSTRACT An explicit way of facilitating approach and landing operations of fixed-wing aircraft i... more ABSTRACT An explicit way of facilitating approach and landing operations of fixed-wing aircraft in degraded visual environments is presenting a coherent image of the designated runway via vision systems and hence increasing the situational awareness of the flight crew. Combined vision systems, in general, aim to provide a clear view of the aircraft exterior to the pilots using information from databases and imaging sensors. This study presents a novel method that consists of image-processing and tracking algorithms, which utilize information from navigation systems and databases along with the images from daylight and infrared cameras, for the recognition and tracking of the designated runway through the approach and landing operation. Video data simulating the straight-in approach of an aircraft from an altitude of 5000 ft down to 100 ft is synthetically generated by a COTS tool. A diverse set of atmospheric conditions such as fog and low light levels are simulated in these videos. Detection and false alarm rates are used as the primary performance metrics. The results are presented in a format where the performance metrics are compared against the altitude of the aircraft. Depending on the visual environment and the source of the video, the performance metrics reach up to 98% for DR and down to 5% for FAR.
31st Annual Conference of IEEE Industrial Electronics Society, 2005. IECON 2005., 2005
ABSTRACT Modeling coordinated motion of a group of autonomous mobile robots has received signific... more ABSTRACT Modeling coordinated motion of a group of autonomous mobile robots has received significant research interest in the last decade. Previous studies have revealed that avoiding collisions with obstacles and other robots is one of the main problems in the area. Considerable amount of research effort has been concentrated on the definition of virtual forces for the generation of reference trajectories for a group of autonomous mobile robots engaged in coordinated behavior. If the mobile robots are nonholonomic, this approach fails to guarantee regulation of the tracking errors since the reference trajectories might not satisfy the nonholonomic constraint. In this work, we introduce a novel coordinated motion model inclusive of a new online collision avoidance algorithm. The proposed model enables online generation of reference trajectories for coordination among a group of autonomous nonholonomic mobile robots in terms of their linear and angular velocities; hence the reference trajectory automatically satisfies the nonholonomic constraint. Several coordinated task examples have been presented and the proposed model is verified through simulations.
Lecture Notes in Computer Science, 2005
The coordinated motion of a group of autonomous mobile robots performing a coordinated task has b... more The coordinated motion of a group of autonomous mobile robots performing a coordinated task has been of high interest in the last decade. Previous research has shown that one of the main problems in the area is to avoid collisions of the robots with obstacles and other members of the group. In this work, we develop a novel coordination scheme along with a new online collision avoidance algorithm. In the proposed algorithm, reference trajectories for a group of autonomous mobile robots are generated in terms of linear and angular velocities of the robots. Several coordinated tasks have been presented and the results are verified by simulations.
Proceedings of the 44th IEEE Conference on Decision and Control, 2005
The coordinated motion of a group of autonomous mobile robots for the achievement of a goal has b... more The coordinated motion of a group of autonomous mobile robots for the achievement of a goal has been of high interest in the last decade. Previous research has revealed that one of the essential problems in the area is to avoid collision of the robots with obstacles and each other while they still achieve the goal. In this work, we develop a novel coordination scheme for a group of mobile robots and a new online collision avoidance algorithm. Several coordinated tasks have been presented and the proposed scheme is verified by simulations.
9th IEEE International Workshop on Advanced Motion Control, 2006., 2006
Coordinated task manipulation by a group of autonomous mobile robots has received significant res... more Coordinated task manipulation by a group of autonomous mobile robots has received significant research effort in the last decade. Previous studies in the area revealed that one of the main problems in the area is to avoid the collisions of the robots with obstacles as well as with other members of the group. Another problem is to come up with a model for successful task manipulation. Significant research effort has accumulated on the definition of forces to generate reference trajectories for each autonomous mobile robots engaged in coordinated behavior. If the mobile robots are nonholonomic, this approach fails to guarantee successful manipulation of the task since the so-generated reference trajectories might not satisfy the nonholonomic constraint. In this work, we introduce a novel coordinated task manipulation model inclusive of an online collision avoidance algorithm. The reference trajectory for each autonomous nonholonomic mobile robot is generated online in terms of linear and angular velocity references for the robot; hence these references automatically satisfy the nonholonomic constraint. The generated reference velocities inevitably depend on the nature of the specified coordinated task. Several coordinated task examples, on the basis of a generic task, have been presented and the proposed model is verified through simulations.
... Prof. Dr. Mahmut F. Aksit and Assist. Prof. Dr. Husnu Yenigun for spending their valuable ...... more ... Prof. Dr. Mahmut F. Aksit and Assist. Prof. Dr. Husnu Yenigun for spending their valuable ... the purest person I ever met, Firuze Ilkoz, who has always supported me without question, Eray Korkmaz, whose friendship was stronger than anything, Onur Ozcan, ...