Elektronik ve Haberleşme Mühendisliği Bölümü Yayın Koleksiyonu

Permanent URI for this collectionhttps://hdl.handle.net/20.500.12416/260

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  • Article
    Citation - WoS: 17
    Citation - Scopus: 23
    Voronoi Boundary Visibility for Efficient Path Planning
    (Ieee-inst Electrical Electronics Engineers inc, 2020) Al-Dahhan, Mohammed Rabeea Hashim; Schmidt, Klaus Werner
    The subject of this paper is the computation of paths for mobile robots that navigate from a start position to a goal position in environments with static obstacles. Specifically, we focus on paths that are represented by straight lines. Such paths can for example directly be followed by omni-directional robots or can be used as an initial solution for path smoothing. In this context, the most common performance metrics are the path length, the obstacle clearance and the computation time. In this paper, we develop a new path planning algorithm that addresses all the stated performance metrics. Our method first determines all possible connections between the start position and goal position along the edges of the generalized Voronoi diagram (GVD) of a given obstacle map. The shortest connections are then refined using a balanced method for creating shortcuts along existing waypoints and introducing new waypoints in order to cut corners. As an important feature, our method reduces the number of required waypoints by iteratively adding new waypoints and then removing unnecessary waypoints along solution paths. Moreover, our method takes into account multiple start-goal connections, since the shortest start-goal connection along the edges of the GVD might not lead to the shortest solution path. A comprehensive computational evaluation for a large number of maps with different properties shows that the proposed method outperforms sampling-based algorithms such as Probabilistic Roadmaps (PRM) and exact methods such as Visibility Graphs (VG) by computing close-to-optimal solution paths with a specified minimum obstacle clearance in less time.
  • Article
    Citation - WoS: 8
    Citation - Scopus: 10
    Spectrum-Aware and Energy-Adaptive Reliable Transport for Internet of Sensing Things
    (Ieee-inst Electrical Electronics Engineers inc, 2018) Bicen, A. Ozan; Ergul, Ozgur; Akan, Ozgur B.; Ozan Bicen, A.
    Wireless sensors equipped with cognitive radio, i.e., cognitive radio sensor networks (CRSN), can access the spectrum in an opportunistic manner and coexist with licensed users to mitigate the crowded spectrum problem and provide ubiquitous remote event monitoring and tracking for cyber-physical systems. In this paper, a novel transport layer protocol for CRSN, spectrum-aware energy-adaptive reliable transport protocol is presented to enable energy-adaptive collaborative event sensing in spectrum-scarce cyber-physical systems. To the best of our knowledge, this is the first attempt to specifically devise a reliable event transport scheme for CRSN.
  • Article
    Citation - WoS: 72
    Citation - Scopus: 85
    Entropy-Functional Online Adaptive Decision Fusion Framework With Application To Wildfire Detection in Video
    (Ieee-inst Electrical Electronics Engineers inc, 2012) Toreyin, Behcet Ugur; Kose, Kivanc; Cetin, A. Enis; Gunay, Osman
    In this paper, an entropy-functional-based online adaptive decision fusion (EADF) framework is developed for image analysis and computer vision applications. In this framework, it is assumed that the compound algorithm consists of several subalgorithms, each of which yields its own decision as a real number centered around zero, representing the confidence level of that particular subalgorithm. Decision values are linearly combined with weights that are updated online according to an active fusion method based on performing entropic projections onto convex sets describing subalgorithms. It is assumed that there is an oracle, who is usually a human operator, providing feedback to the decision fusion method. A video-based wildfire detection system was developed to evaluate the performance of the decision fusion algorithm. In this case, image data arrive sequentially, and the oracle is the security guard of the forest lookout tower, verifying the decision of the combined algorithm. The simulation results are presented.