Browsing by Author "Sezer, Erol"

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    Decentralized control
    (CRC Press, 1996) Sezer, Erol; Levine, W. S.
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    Multi-stage neural networks with application to motion planning of a mechanical snake
    (IEEE, 2003-06) Fidan, B.; Sezer, Erol; Akar, M.
    An efficient approach to nonlinear control problems in which the plant is to be driven to a desired state using a neural network controller in a number of steps is by representing the whole process as a multi - stage neural network. In this paper, an explicit formulation of the back propagation algorithm is developed for such networks. Later, this approach is used to build up a path planner for a mechanical snake (a robot composed of a sequence of articulated links). This path planner, together with a tracking algorithm, is shown to get the mechanical snake out of a collision-free closed region.