Evaluation of egocentric navigation methods

Koku, Ahmet Buğra
In describing routes humans make use of egocentric references to landmarks. In this paper two different egocentric navigation algorithms are introduced and possible variations of these algorithms are compared. These algorithms make use of solely angular distribution information of landmarks around the robot. Possible improvements and uses of these algorithms are discussed. In the evaluation of these algorithms computer simulations are used. The result of this work is expected to provide pointers for the ongoing research which aims to address navigation of robots based on qualitative interaction between humans and robots.


Güneri Söğüt, Gizem Deniz (University of Zagreb, Faculty of Architecture, 2019-01-01)
This text dwells on and manifests the methodological significance of utopianism for the practices of the urban, and specifically architecture, building upon the core definitions made by Ruth Levitas in delineating utopia as method. It surveys various manners of architectural utopianisms - but not architectural utopias themselves - in their broadest sense, to identify the main tendencies of this methodology throughout the twentieth century.
Regional aspects of public transport mobility: Izmir urban region case
Şenbil, Metin; Yetişkul Şenbil, Emine; Özuysal, Mustafa (2022-01-01)
Accessibility can be defined as easiness in reaching locations by means of transportation and its infrastructure. It is a physical characteristic revealing (relative) attractiveness of a location. Mobility, on the other hand, is a real-life counterpart of potentials produced by accessibility, with spatial behavioural dimensions considering socio-economic, cultural and demographic characteristics. For example, different aspects of trip-making behaviour is an important aspect of mobility. This study deals wit...
Improving urban facades as an intervention into the built environment the case of façade improvement application along the protocol highway of Ankara, a route from Aydinlikevler district to Esenboğa Airport
Torabi, Elnaz; Barlas, Mehmet Adnan; Department of City and Regional Planning (2009)
When human constructs the physical surrounding, a psychological environment of meanings is being created, accompanying the world of shapes and masses. Interventions into built environment affect the meanings extracted from the composition of the physical setting and the response of people to design strategies reveals the importance of them. The entrance spine of a city is important in creating an image of the city in the minds of the observers, and the protocol highway of Ankara introduces the city to other...
Spatial organization of service activities in ankara
Levent, Tolga; Günay, Baykan; Department of City and Regional Planning (2007)
In the last decades, the spatial organization of services has become a key issue in the urban planning literature. The basic reasons for this significance are the difficulties not only in understanding this complex and context-dependent organization, but also in developing planning interventions for this organization. Moreover, author believes that the existing theoretical frameworks have some inabilities in interpreting the spatial organization at the intra-metropolitan scale. Therefore, this study basical...
Modelling and simulation of a wheeled land vehicle
Lafcı, Alp; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2010)
Land transportation is the main form of transportation around the world. Since the invention of the car land transportation changed drastically. As the cars took a solid part in human lives with the developments in electronics and robotics unmanned land vehicles are the future of both commercial and military land transportation. Today armies want unmanned land vehicles to provide logistical support to the units near threat zones and commercial firms want them to deliver goods more reliably and with less exp...
Citation Formats
K. ALTUN and A. B. Koku, “Evaluation of egocentric navigation methods,” 2005, vol. 2005, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/34769.