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Sürü Robotbilimi ve Çok-Erkinli Sistemlerdeki Koordinasyon Problemleri
Date
2006-11-08
Author
Şamiloğlu, Andaç Töre
Gazi, Veysel
Koku, Ahmet Buğra
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https://hdl.handle.net/11511/84434
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Self-organized aggregation is the global level gathering of randomly placed robots using local sensing. Developing high performance and scalable aggregation behaviors for a swarm of mobile robots is non-trivial and still in need, when robots control themselves, perceive only a small part of the arena, and do not have access to information such as their position, the size of the arena or the number of robots. In this thesis, we developed a non-spatial probabilistic geometric model for self-organized aggregat...
Sürü Robotlar için Minyatür Piezo Elektrik Tabanlı Tutucu Geliştirilmesi
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Sürü robot sistemleri son yıllarda önemi artan ve üzerine birçok araştırmalar yapılan bir konudur. Sürü robot sistemlerinin en büyük eksikliği biyolojik örneklerinde olan cisimleri tutabilme ve taşıyabilme yetenekleridir. Bu projede tasarlanmaya başlanılan bir sürü robot sisteminde (AttaBot) kullanılmak üzere minyatür piezo elektrik tabanlı tutucu geliştirilecektir. Analitik yöntemlerle farklı tasarımlar yapılacak ve Comsol ortamında bilgisayar benzetimleri gerçekleştirlecektir. En uygun tasarım robotlara e...
Sürü Robotları için Görüntü Tabanlı Mesafe, Açı ve Yönelim Sistemi Tasarımı
Balanji, Hamid; Yilmaz, Emre; Cakmak, Omer; Turgut, Ali Emre (2017-09-23)
Anticipation in collective motion of robot swarms
Boz, İhsan Caner; Turgut, Ali Emre; Huepe, Cristián; Department of Mechanical Engineering (2021-12)
Recent technological advancements made the implementation of swarms of UAVs possible. As they face more complex situations each day, collective motion models rise in importance. In this thesis, a collective motion model for self-propelled agents with anticipative action is given. It is shown that using anticipated positions in the attraction-repulsion mechanism brings a new interaction term that depends on velocities. The noise-induced order-disorder phase transition of this model is compared with two other...
Design of a low-costs warm robotic system for flocking
Demir, Çağrı Ata; Turgut, Ali Emre; Department of Mechanical Engineering (2019)
Swarm robotics is an approach to the coordination of large numbers of robots. The main motivation of this thesis is to study a robotic system designed to do flocking both indoors and outdoors. A walking robot is designed parallel to this purpose. In the first part of thesis, a leg is designed to minimize the displacement of center of mass of robot in vertical axis to eliminate mechanical noise. Mechanism analysis and Matlab optimization tools are utilized in this process. Then, electronic components of robo...
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A. T. Şamiloğlu, V. Gazi, and A. B. Koku, “Sürü Robotbilimi ve Çok-Erkinli Sistemlerdeki Koordinasyon Problemleri,” 2006, Accessed: 00, 2021. [Online]. Available: https://hdl.handle.net/11511/84434.