Browsing by Author "Gazi, Veysel"
Now showing items 1-18 of 18
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Adaptive formation control and target tracking in a class of multi-agent systems: Formation maneuvers
Gazi, Veysel; Fidan, Barış (Ieee, 2013)In this article we develop a direct adaptive fuzzy control based methodology for formation control and target tracking in a class of multi-agent systems with nonlinear and uncertain dynamics. The agents are assumed to be ... -
Adaptive internal model based formation control of a class of multi-agent systems with switched exosystems
Gül, Esma; Gazi, Veysel (Ieee, 2012)In this article we consider a class of multi-agent dynamic systems with uncertainties and the problem of moving in a predefined formation along a reference trajectory. The reference trajectory is generated by switched ... -
Adaptive internal model-based distributed output agreement in a class of multi-agent dynamic systems
Gül, Esma; Gazi, Veysel (Springer International Publishing, 2016)In this study we consider the distributed output agreement problem in a class of multi-agent dynamic systems with uncertainties. The problem is formulated as a nonlinear servomechanism problem and an adaptive internal ... -
Chemical concentration map building using whale optimization algorithm
Merzi, Alp; Gazi, Veysel (Ieee, 2017)In this work, we adapted the Whale Optimization Algorithm (WOA) to a mobile robot system to map the chemical gas concentration in an unknown environment. It is assumed that robots do not know the environment beforehand but ... -
Chemical gas concentration map building and source localization by a multi-robot system through whale optimization algorithm
Merzi, Mehmet Alp (Altınbaş Üniversitesi, 2017)Bu çalışmada Balina Eniyileme Yöntemi (BEY)1 kullanılarak gezgin robotlarla bilinmeyen bir ortamda kimyasal gaz yoğunluğunun yüksek olduğu bölgenin tespiti yapılmıştır. Bu amaçla ilk önce BEY gezgin robot sistemleri için ... -
Distributed adaptive output agreement in a class of multi-agent systems
Gazi, Veysel (Ieee, 2013)In this article we consider the distributed output agreement problem in a class of heterogeneous multi-agent dynamic systems composed of agents with nonlinear and uncertain dynamics. We develop a distributed direct adaptive ... -
Distributed output agreement in a class of uncertain linear heterogeneous multi-agent dynamic systems
Gazi, Veysel (Ieee, 2014)In this article we consider the distributed output agreement problem in a class of heterogeneous multi-agent dynamic systems composed of single input single output linear systems with system uncertainties. Under very mild ... -
Experimental studies on chemical concentration map building by a multi-robot system using bio-inspired algorithms
Turduev, Mirbek; Cabrita, Goncalo; Kırtay, Murat; Gazi, Veysel; Marques, Lino (Springer, 2014)In this article we describe implementations of various bio-inspired algorithms for obtaining the chemical gas concentration map of an environment filled with a contaminant. The experiments are performed using Khepera III ... -
Implementation studies of robot swarm navigation using potential functions and panel methods
Merheb, Abdel-Razzak; Gazi, Veysel; Sezer-Uzol, Nilay (Ieee-Inst Electrical Electronics Engineers Inc, 2016)This paper presents a practical swarm navigation algorithm based on potential functions and properties of inviscid incompressible flows. Panel methods are used to solve the flow equations around complex shaped obstacles ... -
Indirect adaptive formation control with nonlinear dynamics and parametric uncertainty
Güler, Samet; Köksal, Nasrettin; Fidan, Barış; Gazi, Veysel (Ieee, 2013)This paper focuses on coordination of multi-agent systems with agents having holonomic nonlinear dynamics and uncertain system parameters. An indirect adaptive control scheme composed of a parameter estimator and a ... -
On lagrangian dynamics based modeling of swarm behavior
Gazi, Veysel (Elsevier, 2013)In this article a Lagrangian dynamics based approach for modeling swarm dynamics is presented. The approach is based on energy and is alternative to the commonly used Newtonian dynamics, which is based on forces. For that ... -
Particle swarm optimization based distributed agreement in multi-agent dynamic systems
Gazi, Veysel; Ordonez, Raul (Ieee, 2014)In this article we approach the problem of distributed agreement in multi-agent systems using asynchronous particle swarm optimization (PSO) with dynamic neighborhood. The agents are considered as PSO particles which are ... -
Sensor coverage maximization with potential fields
Hanay, Y. Sinan; Gazi, Veysel (Institute of Electrical and Electronics Engineers Inc., 2014)This paper proposes a novel algorithm to deploy mobile sensors for maximization of sensing area coverage. The algorithm presented is distributed and robust to errors. Our method is dynamic and based on potential fields. ... -
Single-view distance-estimation-based formation control of robotic swarms
Fidan, Barış; Gazi, Veysel; Zhai, Shaohao; Cen, Na; Karataş, Engin (Ieee-Inst Electrical Electronics Engineers Inc, 2013)This paper presents a practical formation motion control scheme for robotic swarms based on single-view distance estimation, which is performed using a single nonsophisticated camera on each robot agent, and the prior ... -
Stable adaptive particle swarm optimization
Djaneye-Boundjou, Ouboti; Ordonez, Raul; Gazi, Veysel (Ieee, 2013)Using discrete-time adaptive control tools found in literature, we develop an adaptive particle swarm optimizer. We show, using Lyapunov's direct method, that our devised error system is ultimately uniformly bounded, ... -
Stochastic stability analysis of the particle dynamics in the PSO algorithm
Gazi, Veysel (Ieee, 2012)In this article we analyze the stability of the particle dynamics in the Particle Swarm Optimization algorithm using tools from the nonlinear control systems literature including positive realness and stability of stochastic ... -
A target tracking approach for nonholonomic agents based on artificial potentials and sliding mode control
Gazi, Veysel; Fidan, Barış; Ordonez, Raul; Koksal, M. İlter (Asme, 2012)In this paper, we consider the task of tracking a maneuvering target both with a single nonholonomic agent and a swarm of nonholonomic agents. In order to achieve the tracking task, a decentralized continuous-time control ... -
Virtual cancelation plume for multiple odor source localization
Cabrita, Goncalo; Marques, Lino; Gazi, Veysel (Ieee, 2013)This article presents a novel algorithm for multiple odor source localization by a multi-robot system based on a virtual cancelation plume approach. The proposed method is based on rendering a previously declared odor ...
