Publications of Professor Dr. Erdinc Altug Publications

Konyalıoğlu, T., Alnıpak, S., İbrahim, H. Ş., and Altuğ, E. (2025) Integrating Additive Manufacturing and Composite Manufacturing Techniques to Build a General-Purpose UAV.
International Journal of Aviation Science and Technology, Volume 6, Issue 2, (2025), 79-89.
Çakmak, Ö., Altuğ, E. (2024) Precise Orientation Control of Gimbals with Parametric Variations Using Model Reference Adaptive Controller.
IET Control Theory Appl. 18. 2422-2432 (2024).
https://doi.org/10.1049/cth2.12745
Moral, K., Ayran, B. & Altug, E. (2024) Design and control of a modular multi-drone system with vertical assemble capability.
Int. J. Dynam. Control 12, 2991-3004 (2024).
https://doi.org/10.1007/s40435-024-01404-9
Altuğ, E., & Türkmen, A. (2022). A Novel Mini Jet Engine Powered Unmanned Aerial Vehicle: Modeling and Control.
Unmanned Systems, 10(1).
https://doi.org/10.1142/S2301385022500017
Acar, O. U., Güvenç, L., & Altuğ, E. (2020). Hardware-in-the-Loop Testing of Automatic Lift Dropping System for Heavy Trucks.
Journal of Intelligent and Robotic Systems: Theory and Applications, 98(3-4).
https://doi.org/10.1007/s10846-019-01092-0
Altuğ, E., Mumucuoğlu, M. E., Yüksel, I. (2020). Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles.
Celal Bayar University Journal of Science, 16(1), p 25-33.
https://doi.org/10.18466/cbayarfbe.
Kağızman, A., E. Altug, E. (2019). Development of A Low-Cost, Portable and 360 degree Field of View New 3D LIDAR System for The Navigation of Autonomous Vehicles.
Süleyman Demirel University Journal of Natural and Applied Sciences, 23(3), pp 759-769.
https://dergipark.org.tr/tr/pub/sdufenbed/issue/49749/527888
Keleş, T., Güvenç, L., & Altuğ, E. (2019). ECU controlled intelligent lift axle dropping and lifting system for heavy trucks.
Engineering Science and Technology, an International Journal, 22(3).
https://doi.org/10.1016/j.jestch.2019.01.010
İşbitirici, A., & Altuğ, E. (2017). Design and Control of a Mini Aerial Vehicle that has Four Flapping-Wings.
Journal of Intelligent and Robotic Systems: Theory and Applications, 88(2-4).
https://doi.org/10.1007/s10846-017-0530-9
Şenkul, A. F., & Altuğ, E. (2016). System Design of a Novel Tilt-Roll Rotor Quadrotor UAV.
Journal of Intelligent and Robotic Systems: Theory and Applications, 84(1-4).
https://doi.org/10.1007/s10846-015-0301-4
Şahin, O., Altuğ, E. (2015). Design and control of a visual servomechanism for automating corneal cross linking treatment on keratoconus patients.
Turk J Elec Eng & Comp Sci, 23, p 602-614.
https://doi.org/10.3906/elk-1210-69
Yörükoğlu, A., & Altuğ, E. (2013). Estimation of unbalanced loads in washing machines using fuzzy neural networks.
IEEE/ASME Transactions on Mechatronics, 18(3).
https://doi.org/10.1109/TMECH.2012.2199510
Güvenç, L., Uygan, M. C., Kahraman, K. Karaahmetoğlu, R., Altay, İ. Şentürk, M., Emirler, M. T., Karcı, A. E. H., Güvenç, B. A., Altuğ, E. Turan, M. C., Taş, Ö. Ş., Bozkurt, E., Özgüner, Ü., Redmill, K., Kurt, A., Efendioğlu, B. (2012). Cooperative Adaptive Cruise Control Implementation of Team Mekar at the Grand Cooperative Driving Challenge.
IEEE Transactions on Intelligent Transportation Systems, 13(3), p 1062-1074.
https://ieeexplore.ieee.org/document/6246707
Erginer, B., & Altuğ, E. (2012). Design and implementation of a hybrid fuzzy logic controller for a quadrotor VTOL vehicle.
International Journal of Control, Automation and Systems, 10(1).
https://doi.org/10.1007/s12555-012-0107-0
Ceren, Z., & Altuğ, E. (2012). Image based and hybrid visual servo control of an unmanned aerial Vehicle.
Journal of Intelligent and Robotic Systems: Theory and Applications, 65(1-4).
https://doi.org/10.1007/s10846-011-9582-4
Tarhan, M., & Altuğ, E. (2011). EKF based attitude estimation and stabilization of a quadrotor UAV using vanishing points in catadioptric images.
Journal of Intelligent and Robotic Systems: Theory and Applications, 62(3-4).
https://doi.org/10.1007/s10846-010-9459-y
Tarhan, M., & Altuğ, E. (2011). A catadioptric and pan-tilt-zoom camera pair object tracking system for UAVs.
Journal of Intelligent and Robotic Systems: Theory and Applications, 61(1-4).
https://doi.org/10.1007/s10846-010-9504-x
Aytekin, B., Dinçmen, E., Güvenç, B. A., Altuğ, E., Güvenç, L., Daniş, S., Acarman, T., Sezer, V., Ararat, O., & öncü, S. (2010). Framework for development of driver adaptive warning and assistance systems that will be triggered by a driver inattention monitor.
International Journal of Vehicle Design, 52(1-4).
https://doi.org/10.1504/ijvd.2010.029633
Altuğ, E., Ostrowski, J. P., & Taylor, C. J. (2005). Control of a quadrotor helicopter using dual camera visual feedback.
International Journal of Robotics Research, 24(5).
https://doi.org/10.1177/0278364905053804

Ulcay, Berkcan, Erişen, Okan, Özcan, Burak, Altay, Haluk, Altuğ, E. (2025). A Data Driven Thrust Vectoring Simulation Model for Experimental Small Jet UAV Vectoring Modeling with Model Based Design Approach.
Otomatik Kontrol Ulusal Toplantısı, 18-21 Eylül 2025, Samsun-TÜRKİYE.
Sipahi, A, Altuğ, E. (2025). WaveDrive: A Pipeline for Gesture Recognition Using Hands Coordinates.
4th International Graduate Research Symposium (IGRS'25), May 12-14, 2025 İstanbul TÜRKİYE.
Erdoğmuş, O, Altuğ, E. (2024). Kapalı Alan Tarımda Hastalık Tespiti ve Verim Tahmini için Rota Planlama ve Görüntü İşlemenin İHA'larla Entegre Edilmesi.
Otomatik Kontrol Ulusal Toplantısı, 12-14 Eylül 2024, Konya-TÜRKİYE.
Alnıpak, S, Altuğ, E. (2024). Havadan Paket Teslimatı için Otonom Paraşütlü İHA Sistemi.
Otomatik Kontrol Ulusal Toplantısı, 12-14 Eylül 2024, Konya-TÜRKİYE.
Köken, M., and Altuğ, E. (2024). Experimental Test of Fault Tolerant Real Time Operational Modal Analysis Method by Voting Algorithm for Aircrafts.
In Proceedings of the 2024 3rd International Symposium on Intelligent Unmanned Systems and Artificial Intelligence (SIUSAI '24). Association for Computing Machinery, New York, NY, USA, 74-79.
https://doi.org/10.1145/3669721.3674775
Erdoğmuş, O, Altuğ, E. (2024). Integrating Path Planning and Image Processing with UAVs for Disease Detection and Yield Estimation in Indoor Agriculture.
3rd International Graduate Research Symposium (IGRS'24), May 8-10, 2024 İstanbul- TÜRKİYE.
Alnıpak, S, Altuğ, E. (2024). Modeling and Control of a Parachute-Payload UAV.
3rd International Graduate Research Symposium (IGRS'24), May 8-10, 2024 İstanbul - TÜRKİYE.
Kırmacı, M. E., Yalçın, H., Altug, E. (2023). Design, Modelling and Attitude Control of a Nano-Quadrotor with Dual Microcontroller.
2023 Automatic Control National Meeting (TOK 2023), Istanbul.
Becer, E., Ulusoy, O., Turan, K., & Altug, E. (2023). Design and Implementation of an Autonomous Cleaning Robot to Work Indoors.
2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023.
https://doi.org/10.1109/ASYU58738.2023.10296785
Kerim Moral, Erdinç Altuğ, Bader Ayran, (2022). Design and Control of a Multi-Drone Modular UAV Structure.
Electrical, Electronics and Biomedical Engineering Conference, ELECO 2022, 24-26 November 2022.
Konyalioglu, T., Alnipak, S., & Altug, E. (2021). Model Predictive Control of a Hybrid VA v for Parcel Delivery Applications.
AIRPHARO 2021 - 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment.
https://doi.org/10.1109/AIRPHAR052252.2021.9571035
Turkmen, A., & Altug, E. (2020). Design of a Quad-Jet VTOL UAS for Heavy-lift Applications.
2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020.
https://doi.org/10.1109/ICUAS48674.2020.9214047
Kurt, H. B., and Altuğ, E. (2018). ORB-SLAM and Inertial Sensor Fusion for GPS Denied Environments for Autonomous Car Localization.
2018 International Automotive Technologies Conference (OTEKON), pp. 981-990, 7-8 May 2018, Bursa, Turkey.
Kağızman A., and Altug, E. (2018). Acquiring 3D Point Cloud Data and Object Detection using 2D Laser Scanner (LIDAR) for Autonomous Vehicles.
2018 International Automotive Technologies Conference (OTEKON), pp. 933-942, 7-8 May 2018, Bursa, Turkey.
Kurt, H. B., & Altuğ, E. (2017). Development of an autonomous UAV platform for advanced research applications.
ACM International Conference Proceeding Series.
https://doi.org/10.1145/3045714.3045718
Altuğ, E., Gelbal, Ş. Y., Keçeci, E. F., & Gültekin, M. K. (2017). Localization of an autonomous personnel carrying vehicle in indoor environments.
ACM International Conference Proceeding Series.
https://doi.org/10.1145/3045714.3045719
Gelbal, S. Y., Altug, E., & Kececi, E. F. (2016). Design and HIL setup of an autonomous vehicle for crowded environments.
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2016-September.
https://doi.org/10.1109/AIM.2016.7576961
Isbitirici, A., & Altug, E. (2016). Design of a flapping-wing aerial vehicle based on four-bar mechanism.
2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016.
https://doi.org/10.1109/ICUAS.2016.7502569
Senkul, A. F., Gelbal, S. Y., & Altug, E. (2016). Manufacturing and flight tests of a quadrotor UAS with tiltable rotors.
2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016.
https://doi.org/10.1109/ICUAS.2016.7502648
Keleş, T., Aray, A., Ozdemir, U., Güvenç, L., Altuğ, E. (2015). Implementation of Automatic Lift Axle System for Trucks with Mechanical Suspension.
Third International Symposium on Innovative Technologies in Engineering and Science (ISITES), p 804-813.
İşbitirici A. Altuğ, E. (2015). Dört çubuk Mekanizması Kullanarak Mikro Hava Aracı İçin Kanat Mekanizması Tasarımı.
Uluslararası katılımlı 17. Makina Teorisi Sempozyumu, İzmir.
Şenkul, F., Gelbal Y., and Altuğ, E. (2015). Uçan Robotlar için Yönlendirilebilir Rotor Sistemi Tasarımı ve Kontrolü.
Türkiye Robotbilim Konferansı'nın (ToRK), Istanbul, 26-27 Ekim 2015.
Senkul, F., & Altug, E. (2014). Adaptive control of a tilt-roll rotor quadrotor UAV.
2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 Conference Proceedings.
https://doi.org/10.1109/ICUAS.2014.6842367
Acar, O. U., Keleş, T., Koç, Z., Güner, S., Duruş, M., Altuğ, E., & Güvenç, L. (2013). Development of automatic lift axle system for trucks with mechanical suspensions.
IFAC Proceedings Volumes (IFAC-PapersOnline), 1(PART 1).
Senkul, F., & Altug, E. (2013). Modeling and control of a novel tilt Roll rotor quadrotor UAV.
2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings.
https://doi.org/10.1109/ICUAS.2013.6564796
Yigit, C. B., & Altug, E. (2012). Visual attitude stabilization of a unmanned helicopter in unknown environments with an embedded single-board computer.
2012 IEEE International Symposium on Robotic and Sensors Environments, ROSE 2012 Proceedings.
https://doi.org/10.1109/ROSE.2012.6402628
Keleş, T., Acar, O. U., Öztürk, Α. Ο., Κος, Z., Duruş, M., Altuğ, E., Güvenç, L. (2012). Kamyonlarda Otomatik Dingil İndirme Sistemi Algoritması ve Simülatörü Geliştirilmesi.
6. Otomotiv Teknolojileri Kongresi (OTEKON), 4-5 June 2012.
Karcı, A. E. H., Uygan, İ. M. C., Turan, M. C., Karaahmetoğlu, R., Şentürk, M., Taş, ö.ş., Kahraman, K., Güvenç, L., Güvenç, B. A., Özgüner, Ü., Altuğ, E., Efendioğlu, B. (2012). Kooperatif Araç Tasarım ve Kontrol Esasları.
6. Otomotiv Teknolojileri Kongresi (OTEKON), 4-5 June 2012.
Turan, M. C., Hartavi, A. E., & Altuğ, E. (2012). Development of a rule based upper level control algorithm for a co-operative vehicle in automated highway system.
2012 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2012.
https://doi.org/10.1109/ICVES.2012.6294263
Aytekin, B., & Altuğ, E. (2010). Increasing driving safety with a multiple vehicle detection and tracking system using ongoing vehicle shadow information.
Conference Proceedings IEEE International Conference on Systems, Man and Cybernetics.
https://doi.org/10.1109/ICSMC.2010.5641879
Ceren, Z., & Altug, E. (2009). Vision-based servo control of a quadrotor air vehicle.
Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA.
https://doi.org/10.1109/CIRA.2009.5423246
Denizer, B., & Altuğ, E. (2009). Design of a cheap tracked mobile robot for map building tasks.
IECON Proceedings (Industrial Electronics Conference).
https://doi.org/10.1109/IECON.2009.5415146
Tarhan, M., & Altuğ, E. (2009). Control of a quadrotor air vehicle by vanishing points in catadioptric images.
ISOT 2009- International Symposium on Optomechatronic Technologies.
https://doi.org/10.1109/ISOT.2009.5326105
Yörükoğlu, A., & Altuğ, E. (2009). Determining the mass and angular position of the unbalanced load in horizontal washing machines.
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM.
https://doi.org/10.1109/AIM.2009.5230027
Aytekin, B., Altuğ, E. (2009). Bilgisayarlı Görü Yöntemi ile Araç Belirleme ve Takibi.
TOK'09 Otomatik Kontrol Türk Milli Komitesi Toplantısı, Yıldız Technical University, Istanbul, Ekim 2009.
Ceren, Z., Altuğ, E. (2009). Bilgisayarlı Quadrotor Hava Aracının Görüntü Tabanlı Servo Kontrolü.
TOK'09 Otomatik Kontrol Türk Milli Komitesi Toplantısı, Yıldız Technical University, Istanbul, Ekim 2009.
Denizer, B., Altuğ, E. (2008). Harita çıkarma Uygulamaları için Paletli bir Robot Tasarımı.
TOK'08 Otomatik Kontrol Türk Milli Komitesi Toplantısı, Istanbul, November 2008.
Ceren, Z., Altuğ, E. (2008). Uçan robotlarda Kamera ile Poz Tahmin Edilmesi.
TOK'08 Otomatik Kontrol Türk Milli Komitesi Toplantısı, Istanbul, November 2008.
Daniş, S., Aytekin, B. Dinçmen, E. Sezer, V., Ararat, O., Oncü, S. Güvenç, B. A., Acarman, T., Altuğ, E. and Güvenç, L. (2008). Framework For Development Of Driver Adaptive Warning and Assistance Systems That will be Triggered by a Driver Inattention Monitor.
OTEKON'08, 4th Automotive Technologies Congress, June 01-04, 2008, Bursa.
Erginer, B., & Altuğ, E. (2007). Modeling and PD control of a quadrotor VTOL vehicle.
IEEE Intelligent Vehicles Symposium, Proceedings.
https://doi.org/10.1109/ivs.2007.4290230
Karaman, S., Aksugur, M., Baltaci, T., Bronz, M., Kurtulus, C., Inalhan, G., Altug, E., & Guvenc, L. (2007). Aricopter: Aerobotic platform for advances in flight, vision controls and distributed autonomy.
IEEE Intelligent Vehicles Symposium, Proceedings.
https://doi.org/10.1109/ivs.2007.4290234
Erginer, B., Altuğ, E. (2007). Dört Rotorlu Bir Helikopterin Bulanık Kontrolü.
TOK'07, Otomatik Kontrol Türk Milli Komitesi Toplantısı, September 2007, Istanbul.
Altuğ, E. (2004). Control of a Tethered Aerial Platform for Acquiring Aerial Images.
IEEE International Conference on Mechatronics, Aachen- Germany, September 2004.
Altuğ, E., & Taylor, C. (2004). Vision-based pose estimation and control of a model helicopter.
Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04.
Altuğ, E., Ostrowski, J. P., & Taylor, C. J. (2003). Quadrotor control using dual camera visual feedback.
Proceedings IEEE International Conference on Robotics and Automation, 3.
Altuğ, E., Ostrowski, J. P., and Kumar, V. (2002). Design and Control of a Quadrotor Helicopter.
University of Pennsylvania PENN Graduate Research Symposium.
Altuğ, E., Ostrowski, J. P., & Mahony, R. (2002). Control of a quadrotor helicopter using visual feedback.
Proceedings IEEE International Conference on Robotics and Automation.
https://doi.org/10.1109/ROBOT.2002.1013341

PUBLICATIONS

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Patents and Useful Models (under review)