Mustafa Mert Ankaralı

Department of Electrical and Electronics Engineering
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Obround trees: Sparsity enhanced feedback motion planning of differential drive robotic systems
Ankaralı, Mustafa Mert (2021-01-01)
© 2021 Turkiye Klinikleri. All rights reserved.Robot motion planning & control is one of the most critical and prevalent problems in the robotics community. Even though original motion planning algorithms had relied on "op...
MPC-Graph: Feedback motion planning using sparse sampling based neighborhood graph
Karagoz, O. Kaan; Atasoy, Simay; Ankaralı, Mustafa Mert (2020-10-24)
© 2020 IEEE.Robust and safe feedback motion planning and navigation is a critical task for autonomous mobile robotic systems considering the highly dynamic and uncertain nature scenarios of modern applications. For these r...
Extended Kalman Filter Based State and Parameter Estimation Method for a Buck Converter Operating in a Wide Load Range
Candan, Muhammed Yusuf; Ankaralı, Mustafa Mert (2020-10-11)
© 2020 IEEE.The vast majority of buck converter modeling and control studies rely on the assumption that load resistance operates near a nominal value. Accordingly, controller and estimator designs in literature are mainly...
Characterization of Fixed Points of Spring-Mass Model with a Body Govde Eklenmis Yay-Kutle Modelinin Sabit Noktalarinin Karakterizasyonu
Karagoz, Osman Kaan; Sever, Izel; Dilsad Er, Guner; Saranlı, Uluç; Ankaralı, Mustafa Mert (2020-10-05)
© 2020 IEEE.The Spring Loaded Inverted Pendulum (SLIP) template has long been known to be an appropriate model for motion dynamics of legged systems. However, SLIP template does not define the stabilization of upper body w...
Developing a Motion Controller for Autonomous Agricultural Robot Otonom Tarim Robotu Icin Hareket Planlayicinin Gelistirilmesi
Gölbol, Ferhat; Olmez, Hasan; Hacinecipoglu, Akif; Ankaralı, Mustafa Mert (2020-10-05)
© 2020 IEEE.The advantages of autonomous agriculture over traditional agriculture have been reported both in national and international literature. Motion and trajectory planning is one of the fundamental problems an agric...
Analysis and control of a body-attached spring-mass runner based on central pivot point approach
Karagoz, O. Kaan; Sever, Izel; Saranlı, Uluç; Ankaralı, Mustafa Mert (2020-07-01)
© 2020 IEEE.The Spring-Loaded Inverted Pendulum (SLIP) template and its extensions have long been used as benchmark models for analyzing the dynamics of legged systems in biology and robotics. The fundamental SLIP model is...
Variability in Locomotor Dynamics Reveals the Critical Role of Feedback in Task Control
Uyanik, I; Sefati, S.; Stamper, S. A.; Cho, K.; Ankaralı, Mustafa Mert; Fortune, E. S.; Cowan, N. J. (2020-03-01)
Variability in locomotor dynamics reveals the critical role of feedback in task control.
Uyanik, I; Sefati, S; Stamper, Sa; Cho, Ka; Ankaralı, Mustafa Mert; Fortune, Es; Cowan, Nj (eLife Sciences Publications, Ltd, 2020-01-23)
Animals vary considerably in size, shape, and physiological features across individuals, but yet achieve remarkably similar behavioral performances. We examined how animals compensate for morphophysiological variation by m...
28VDC Askeri Baradan Beslenen Yüksek Kazançlı 700VDC Çıkışlı ve Çıkışı Endüktörsüz Tam Köprü Kondansatör Şarjörünün Modellenmesi ve Benzetimi
Candan, Muhammed Yusuf; Kavak, Halil; Ankaralı, Mustafa Mert (2019-11-20)
Feedback motion planning of unmanned surface vehicles via random sequential composition
Ege, Emre; Ankaralı, Mustafa Mert (SAGE Publications, 2019-08-01)
In this paper, we propose a new motion planning method that aims to robustly and computationally efficiently solve path planning and navigation problems for unmanned surface vehicles (USVs). Our approach is based on synthe...
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