Yazar "Mumcu, Tarik Veli" seçeneğine göre listele

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    Autonomous Intruder Detection System Using Wireless Networked Mobile Robots
    (IEEE, 2012) Tuna, Gurkan; Tasdemir, Coskun; Gulez, Kayhan; Mumcu, Tarik Veli; Gungor, Vehbi Cagri
    Wireless networked mobile robots pursuing a common objective are envisioned to be an efficient solution for many military, industrial, commercial, and environmental applications. This paper presents the design considerations of an autonomous intruder detection system based on wireless networked robots. Specifically, three critical aspects of these systems, such as coordination and task allocation, communication, and map-based intruder detection, have been investigated and a multi-sensor fusion mechanism has been presented. Performance results show that the fusion of redundant information from different sensors can increase the accuracy of a system and reduce overall uncertainty in intruder detection applications.
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    Design Strategies of Unmanned Aerial Vehicle-Aided Communication for Disaster Recovery
    (IEEE, 2012) Tuna, Gurkan; Mumcu, Tarik Veli; Gulez, Kayhan
    This paper presents a novel approach of using unmanned aerial vehicles (UAVs) to establish a communication infrastructure in case of disasters. Due to the collapse of buildings, power systems, and antennas, the collapse of communication infrastructure is the usual effect of disasters. In this study, we propose an emergency communications system established by unmanned aerial vehicles (UAVs). The system is a post-disaster solution; hence, it can be used anywhere required. In this study, first we briefly explain the details of the system in three aspects: end-to-end communication, localization and navigation, and coordination Then, we evaluate the efficiency of the localization and navigation subsystem. Our simulation studies with Air Robot quadrotor helicopters in Unified System for Automation and Robot Simulation (USARSim) simulation environment show that UAV-aided communications system can be used in case of disasters to establish an emergency communications infrastructure in terms of localization and navigation.
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    Exploration Strategy Related Design Considerations of WSN-Aided Mobile Robot Exploration Teams
    (Springer-Verlag Berlin, 2012) Tuna, Gurkan; Gulez, Kayhan; Gungor, Vehbi Cagri; Mumcu, Tarik Veli
    This paper presents a novel approach to mobile robot exploration. In this approach, mobile robots send their local maps to the central controller and coordinate with each other using a wireless sensor network (WSN). Different from existing rendezvous point-based exploration strategies, the use of a WSN as the communication media allows quick and cost-effective exploration and mapping of an unknown environment. Overall, this paper introduces WSN-aided mobile robot exploration strategy and shows comparative performance evaluations using the Player/Stage simulation platform. Here, our main goal is to present potential advantages of WSN-aided mobile robot exploration for Simultaneous Localization and Mapping (SLAM).
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    Unmanned Aerial Vehicle-Aided Wireless Sensor Network Deployment System for Post-disaster Monitoring
    (Springer-Verlag Berlin, 2012) Tuna, Gurkan; Mumcu, Tarik Veli; Gulez, Kayhan; Gungor, Vehbi Cagri; Erturk, Hayrettin
    This paper presents design strategies of using unmanned aerial vehicles (UAVs) to deploy wireless sensor networks (WSNs) for post-disaster monitoring. Natural disasters are unforeseeable events which cannot be prevented. But some recovery procedures can be followed to minimize their effects. Post-disaster monitoring is important to estimate the effects of disasters, which in turn is used to determine recovery procedures to be followed. We propose an UAV-aided unattended WSN deployment system. The system is a post-disaster solution which can be used anywhere required. In this study, we mainly evaluate the efficiency of localization and navigation performance of the proposed system. Our simulation studies with an AirRobot quadrotor helicopter in Unified System for Automation and Robot Simulation (USARSim) simulation platform show that UAVs can be used to deploy WSNs after disasters to monitor environmental conditions. Future work includes implementing the system using a hexarotor helicopter.
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    WSN Aided Indoor Localization for Unmanned Vehicles
    (Springer-Verlag Berlin, 2012) Tuna, Gurkan; Altun, Yusuf; Mumcu, Tarik Veli; Gulez, Kayhan
    This paper presents design considerations of an Extended Kalman Filter (EKF) based Wireless Sensor Network (WSN) aided indoor localization for unmanned vehicles (UV). In this approach, we integrate Received Signal Strength Indicator (RSSI) measurements into an EKF based localization system. The localization system primarily uses measurements from a Laser Range Finder (LRF) and keeps track of the current position of the UV using an EKF-based algorithm. The integration of RSSI measurements at predetermined intervals improves the accuracy of the localization system. It may also prevent large drifts from the ground truth, kidnapping, and loop closure errors. Player/Stage based simulation studies were conducted to prove the effectiveness of the proposed system. The results of the comparative simulations show that integrating RSSI measurements into the localization system improves the system's accuracy.