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

Sustainable Development Goals Report Points

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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; Computer Engineering
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: 2
Nonuniform Sampling for Detection of Abrupt Changes
(Birkhauser Boston Inc, 2003) Kerestecioğlu, Feza; Kerestecioğlu, Feza; Tokat, Sezai; Computer Engineering
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; 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 - Scopus: 2
Active Reconfigurable Control of a Submarine With Indirect Adaptive Control
(2003) Demirci, Ufuk; Kerestecioğlu, Feza; Kerestecioğlu, Feza; Computer Engineering
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. Depth and pitch angle of the submarine is controlled by means of the well-known indirect self-tuning method. In case of a system fault estimated parameters of the submarine model have been used to update the controller coefficients.
Citation - Scopus: 0
Circular Formations of Non-Communicating Robot Groups Via Local Strategies
(SAGE Publications Ltd, 2024) Kerestecioğlu,F.; Kerestecioğlu, Feza; Şen,Ü.; Işıkver,Ç.; Göktekin,A.; Computer Engineering
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. © The Author(s) 2023.
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.
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; Computer Engineering
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 - Scopus: 0
Sliding Mode Controller Solution for the Shallow Submerged Operation Ok a Submarine
(IFAC Secretariat, 2003) Demirci, Ufuk; Kerestecioğlu, Feza; Kerestecioğlu, Feza; Computer Engineering
In this paper a submarine controller is presented which can accommodate the sea wave effects on a submarine a(shallow water operation. Sliding mode method is implemented in a way that the robustness of the controller increased with respect to disturbance distribution vector in order to perform the depth control of a shallow submerged submarine under sea wave disturbances. Designed controller kept the submarine performance within acceptable limits. Copyright © 2003 IFAC.
Citation - Scopus: 7
Fault Tolerant Control With Re-Configuring Sliding-Mode Schemes
(2005) Demirci, Ufuk; Kerestecioğlu, Feza; Kerestecioğlu, Feza; Computer Engineering
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: 10
Citation - Scopus: 11
RSSI-Based Indoor Positioning via Adaptive Federated Kalman Filter
(IEEE-Inst Electrical Electronics Engineers Inc, 2022) Kerestecioğlu, Feza; Kerestecioglu, Feza; Computer Engineering
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.