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

Job Title

Prof. Dr.

Email Address

kerestec@khas.edu.tr

ORCID ID

0000-0001-9722-9458

Scopus Author ID

6603417688

Full item page

Scholarly Output

20

Articles

8

Citation Count

70

Supervised Theses

1 Scholarly Output Search Results

Now showing 1 - 10 of 20

Citation Count: 6
Indoor Positioning Using Federated Kalman Filter
(IEEE, 2018) 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 Count: 1
A non-communicating multi-robot system with switchable formations
(2013) Kerestecioğlu, Feza; Kerestecioğlu, Feza
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 Count: 2
Navigation of autonomous mobile robots in connected groups
(IEEE, 2008) 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 Count: 2
Nonuniform sampling for detection of abrupt changes
(Birkhauser Boston Inc, 2003) 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 Count: 1
Connected navigation of non-communicating mobile agents
(IEEE, 2012) Kerestecioğlu, Feza; Cezayirli, Ahmet
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 Count: 5
Zero-crossing based demodulation of minimum shift keying
(2003) Kerestecioğlu, Feza; Kerestecioğlu, Feza
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 structures to demodulate MSK have been suggested such as correlation receivers differential detectors and frequency discriminators MSK is a form of biphase keying and can be detected by a zero-crossing based phase demodulator which gives near optimum performance. In this paper the bit error performance of a zero-crossing based coherent MSK demodulator is theoretically investigated and a closed-form expression for the bit error rate is derived. The results indicate that the demodulator performs within 0.8-1 dB of the theoratical optimum for MSK. Towards the goal of deriving probability of bit error it is also shown that under additive white Gaussian noise (AWGN) zero-crossing locations of MSK signals are Gaussian distributed except at very low signal-to-noise ratios.
Citation Count: 0
Fault Tolerant Indoor Positioning Based on Federated Kalman Filter
(Springer, 2024) Kerestecioğlu, Feza; Kerestecioglu, Feza
In this article, multi-sensor indoor positioning, which is based on fusing tri-laterated position data of the target, is considered. A novel method, which is based on federated Kalman filtering and makes use of the fingerprint data, namely, federated Kalman filter with skipped covariance updating (FKF-SCU) is proposed. The data collected on two test beds are used in comparing the performances of the proposed algorithm and that of the regular federated filter. It is shown that the proposed algorithm provides fault tolerance and quick recovery, whenever signal reception from an access point is interrupted, as well as an improvement of 12.57% on the position accuracy.
Citation Count: 15
A re-configuring sliding-mode controller with a ustable robustness
(Pergamon-Elsevier Science Ltd, 2004) Kerestecioğlu, Feza; Kerestecioğlu, Feza
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 distribution information can be obtained and used to update the corrective gain vector of the sliding-mode controller. This increases the robustness of the controller and hence keeps the system performance within acceptable limits. Proposed method is validated with simulations on a submarine model. (C) 2003 Published by Elsevier Ltd.
Citation Count: 1
On preserving connectivity of autonomous mobile robots
(IEEE, 2009) Kerestecioğlu, Feza; Kerestecioğlu, Feza
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.
Citation Count: 9
Navigation of non-communicating autonomous mobile robots with guaranteed connectivity
(Cambridge Univ Press, 2013) 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.