Ayberk Ozgur

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Hierarchical cooperation has recently been shown to achieve better throughput scaling than classical multihop schemes under certain assumptions on the channel model in static wireless networks. However, the end-to-end delay of this scheme turns out to be significantly larger than those of multihop schemes. A modification of the scheme is proposed here that(More)
Building over algorithms previously developed for digital pens, this article introduces a novel 2D localization technique for mobile robots, based on simple printed patterns. This method combines high absolute accuracy (below 0.3mm), unlimited scalability, low computational requirements (the presented open-source implementation runs at above 45Hz on a(More)
We present an omnidirectional ball wheel drive design that utilizes a permanent magnet as the drive roller to generate the contact force. Particularly interesting for novel human-mobile robot interaction scenarios where the users are expected to physically interact with many palm-sized robots, our design combines simplicity, low cost and compactness. We(More)
Roombots (RB) are self-reconfigurable modular robots designed to study robotic reconfiguration on a structured grid and adaptive locomotion off grid. One of the main goals of this platform is to create adaptive furniture inside living spaces such as homes or offices. To ease the control of RB modules in these environments, we propose a novel and more(More)
n source and destination pairs randomly located in an area want to communicate with each other. Signals transmitted from one user to another at distance r apart are subject to a power loss of r<sup>-alpha</sup> as well as a random phase. We identify the scaling laws of the information-theoretic capacity of the network when nodes can relay information for(More)
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