Afşar Saranlı

E-mail

afsars@metu.edu.tr

Department

Department of Electrical and Electronics Engineering

ORCID

0000-0001-9680-2558

Scopus Author ID

6506741475

Reinforcement Learning versus Conventional Control for Controlling a Planar Bi-rotor Platform with Tail Appendage Ugurlu, Halil Ibrahim; Kalkan, Sinan; Saranlı, Afşar (2021-08-01) © 2021, The Author(s), under exclusive licence to Springer Nature B.V.In this paper, we study the conventional and learning-based control approaches for multi-rotor platforms, with and without the presence of an actuated “...
Multi-Frame motion deblurring of video using the natural oscillatory motion of dexterous legged robots Gultekin, Gokhan Koray; Saranlı, Afşar (2019-07-18) Motion blur is a common problem for machine vision applications in legged mobile robotic platforms. Due to the oscillatory walking nature of these platforms, the cameras on them experience disturbances so that most of the ...
Rastgele Sıralı Ardışık Bileşim Kullanarak Hareket Planlama Gölbol, Ferhat; Ankaralı, Mustafa Mert; Saranlı, Afşar (2019-06-27) Rastgele sıralı ardışık bileşim yöntemi, hem örnekleme tabanlı algoritmalar gibi hızlı sonuç vermekte, hem de noktalar yerine alanları örneklediği için çok daha az sayıda örnekle planlama işlemini gerçekleştirmektedir. Yak...
Feature Detection Performance Based Benchmarking of Motion Deblurring Methods: Applications to Vision for Legged Robots Gultekin, Gokhan Koray; Saranlı, Afşar (Elsevier BV, 2019-02-01) Dexterous legged robots can move on variable terrain at high speeds. The locomotion of these legged platforms on such terrain causes severe oscillations of the robot body depending on the surface and locomotion speed. Came...
RG-Trees: Trajectory-Free Feedback Motion Planning Using Sparse Random Reference Governor Trees Gölbol, Ferhat; Ankaralı, Mustafa Mert; Saranlı, Afşar (2018-10-05) Sampling based methods resulted in feasible and effective motion planning algorithms for high dimensional configuration spaces and complex environments. A vast majority of such algorithms as well as their application rely ...
Lineer Bir Sistemin Eş Zamanlı Sistem Belirleme ve Durum Kestirimi Gölbol, Ferhat; Ankaralı, Mustafa Mert; Saranlı, Afşar (2018-04-14)
Eksik Tahrikli Bir Sistemin Periyodik Yörünge Çevresinde Kontrolü Duyul, Ayşe Deniz; Saranlı, Afşar; Ankaralı, Mustafa Mert (null; 2018-04-14)
Optimal control of a half-circular compliant legged monopod AYDIN, Yasemin Ozkan; Saranlı, Afşar; Yazıcıoğlu, Yiğit; Saranlı, Uluç; Leblebicioğlu, Mehmet Kemal (2014-12-01) This paper investigates an optimal control strategy for the dynamic locomotion of a simplified planar compliant half-circular legged monopod model. We first present a novel planar leg model which incorporates rolling kinem...
A Real-Time Inertial Motion Blur Metric: Application to Frame Triggering Based Motion Blur Minimization Mutlu, Mehmet; Saranlı, Afşar; Saranlı, Uluç (2014-06-07) Mobile robots suffer from sensory data corruption due to body oscillations and disturbances. In particular, information loss on images captured with onboard cameras can be very high, and such loss may become irreversible o...
A Real-Time Inertial Motion Blur Metric Mutlu, Mehmet; Saranlı, Afşar; Saranlı, Uluç (2014-04-25) Mobile robots suffer from sensory data corruption due to body oscillations and disturbances. In particular, information loss on images captured with onboard cameras can be very high, and such loss may become irreversible o...

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