Scopus İndeksli Yayınlar Koleksiyonu
Permanent URI for this collectionhttps://hdl.handle.net/20.500.12573/395
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Article Citation - WoS: 32Citation - Scopus: 35Transmitter Localization in Vessel-Like Diffusive Channels Using Ring-Shaped Molecular Receivers(IEEE-Inst Electrical Electronics Engineers Inc, 2018-12) Turan, Meric; Akdeniz, Bayram Cevdet; Kuran, Mehmet Comma Sukru; Yilmaz, H. Birkan; Demirkol, Ilker; Pusane, Ali E.; Tugcu, Tuna; Birkan Yilmaz, H.Molecular communication via diffusion in vessellike environment targets critical applications such as the detection of abnormal and unhealthy cells. In this letter, we derive the analytical formulation of the channel model for diffusion dominated movement, considering ring-shaped (i. e., patch) observing receivers, and Poiseuille flow with the aim of localization of the transmitter cell. Then, we derive formulations using this channel model for two different application scenarios. We assume that the emission start time is known in the first scenario and unknown in the second one. We successfully localize the transmitter cell using a single receiver for the first scenario, whereas two receivers are used to localize the transmitter cell in the second scenario. At last, the devised analytical framework is validated with simulations.Article Citation - WoS: 7Citation - Scopus: 8A Distributed Relative Localization Approach for Air-Ground Robot Formations With Onboard Sensing(Pergamon-Elsevier Science Ltd, 2023-06) Guler, Samet; Yildirim, Isa E.In a multi-robot system, diversity in the sensing and motion models of robotic entities can improve the overall performance. While such heterogeneous systems offer peculiar advantages in terms of robustness and resiliency, positioning and situational awareness of individual robots in these systems remain a challenge. In this paper, the problem of relative localization in a system composed of a drone and multiple unmanned ground vehicles which are desired to move in formation is addressed. By utilizing a leader-follower formation graph, a distance-based relative localization algorithm based on an extended Kalman filter is proposed for online estimation of the relative positions among the ground vehicles. The necessary conditions to satisfy the observability of the unmeasured states are provided. In the proposed framework, the robots exchange a limited amount of information only and do not rely on an external infrastructure, GPS, or magnetometer. Furthermore, an application of the proposed localization framework integrated to custom formation control schemes is proposed. The performance of the proposed approach is evaluated through a set of simulation and real life experiments, and its advantages and limitations are discussed by means of a comparative study.