Prof. Dr. Hakan Temeltas

Committee: International Scientific Committee of Electrical and Computer Engineering
University: Istanbul Technical University
Department: Department of Electrical and Electronic Engineering
Research Fields: adaptive control, centroidal voronoi tessellations, composite adaptation, coordination, multi robots,

Publications

1 Multi-Agent Coverage Control with Bounded Gain Forgetting Composite Adaptive Controller

Authors: Hakan Temeltas, Mert Turanli

Abstract:

In this paper, we present an adaptive controller for decentralized coordination problem of multiple non-holonomic agents. The performance of the presented Multi-Agent Bounded Gain Forgetting (BGF) Composite Adaptive controller is compared against the tracking error criterion with a Feedback Linearization controller. By using the method, the sensor nodes move and reconfigure themselves in a coordinated way in response to a sensed environment. The multi-agent coordination is achieved through Centroidal Voronoi Tessellations and Coverage Control. Also, a consensus protocol is used for synchronization of the parameter vectors. The two controllers are given with their Lyapunov stability analysis and their stability is verified with simulation results. The simulations are carried out in MATLAB and ROS environments. Better performance is obtained with BGF Adaptive Controller.

Keywords: Adaptive Control, coordination, centroidal voronoi tessellations, composite adaptation

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Abstracts

2 Multi-Agent Coverage Control with Bounded Gain Forgetting Composite Adaptive Controller

Authors: Hakan Temeltas, Mert Turanli

Abstract:

In this paper, we present an adaptive controller for decentralized coordination problem of multiple non-holonomic agents. The performance of the presented Multi-Agent Bounded Gain Forgetting (BGF) Composite Adaptive controller is compared against the tracking error criterion with a Feedback Linearization controller. By using the method, the sensor nodes move and reconfigure themselves in a coordinated way in response to a sensed environment. The multi-agent coordination is achieved through Centroidal Voronoi Tessellations and Coverage Control. Also, a consensus protocol is used for synchronization of the parameter vectors. The two controllers are given with their Lyapunov stability analysis and their stability is verified with simulation results. The simulations are carried out in MATLAB and ROS environments. Better performance is obtained with BGF Adaptive Controller.

Keywords: Adaptive Control, coordination, centroidal voronoi tessellations, composite adaptation, multi robots

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1 Power-Aware Adaptive Coverage Control with Consensus Protocol

Authors: Hakan Temeltas, Mert Turanli

Abstract:

In this paper, we propose a new approach to coverage control problem by using adaptive coordination and power aware control laws. Nonholonomic mobile nodes position themselves suboptimally according to a time-varying density function using Centroidal Voronoi Tesellations. The Lyapunov stability analysis of the adaptive and decentralized approach is given. A linear consensus protocol is used to establish synchronization among the mobile nodes. Also, repulsive forces prevent nodes from collision. Simulation results show that by using power aware control laws, energy consumption of the nodes can be reduced.

Keywords: Adaptive, coordination, consensus, power aware, coverage control, nonholonomic

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