Publications

All my papers can be easily found on Google Scholar (except the papers that are still in preparation). If you are having trouble finding them, feel free to contact me at [ure at itu dot edu dot tr]

Journal Articles and Book Chapters

Izgi, B., Ozkaya, M., Ure, N.K. and Perc, M.. Extended matrix norm method: Applications to bimatrix games and convergence results. Applied Mathematics and Computation, 438, p.127553, 2023.

Keser, R.K., Ayanzadeh, A., Aghdam, O.A., Kilcioglu, C., Toreyin, B.U. and Ure, N.K. PURSUhInT: In Search of Informative Hint Points Based on Layer Clustering for Knowledge Distillation. Expert Systems with Applications, 213, p.119040, 2023.

Ergen, Mustafa, Feride Inan, Onur Ergen, Ibraheem Shayea, Mehmet Fatih Tuysuz, Azizul Azizan, Nazim Kemal Ure, and Maziar Nekovee. “Edge on Wheels With OMNIBUS Networking for 6G Technology.” IEEE Access 8 (2020): 215928-215942.

Sahin, M. C., Eroglu, B., Ure, N. K., Autolanding Control System Design with Deep Learning Based Fault Estimation, Aerospace Science and Technology, 2020.

Mohtashamkhani, M., Gahsemzadeh, L., Vahidnia, S., Ozturk, Y. E., Yuvakalioglu, M., Akin, S., Ure, N. K., Deep Learning Based Crack Detection with Applications to Structural Health Monitoring of Gas Turbines, Structural Health Monitoring, 2019.

Yildiz, A., Akcal, M. U., Hostas, B., Ure, N. K., Switching Control Architecture with Parametric Optimization for Aircraft Upset Recovery, AIAA Journal of Guidance Navigation and Control, 2019.

Akcal, M. U., Ure, N. K., Predictive Missile Guidance with Online Trajectory Learning, Defence Science Journal, 2017

Ure, N. K., Computationally Efficient Assessment of Fighter Aircraft Mission Survivability with Probabilistic Graphical Models,Journal of Aeronautics and Space Technologies, 2017

Omidshafiei S., Agha-mohammad A., Chen Y. F., Ure N. K. , How J. P., Vian J., Surati R., , “Measurable Augmented Reality for Prototyping Cyberphysical Systems: A Robotics Platform to Aid the Hardware Prototyping and Performance Testing of Algorithms,” in IEEE Control Systems, vol. 36, no. 6, pp. 65-87, Dec. 2016.

Yuksek, B., Ure, N. K. Caliskan, F., Inalhan G., “Fault Tolerant Heading Control System Design for Turac Unmanned Aerial Vehicle”, Transactions of the Institute of Measurements and Control (TIMC), 2016.

Yuksek, B., Ure, N. K. ” Optimization of Allocation and Launch Conditions of Multiple Missiles for Three Dimensional Collaborative Interception of Ballistic Targets”, International Journal of Aerospace Engineering, Special Issue on Recent Advances on Aerospace Controls, 2016.

Pasaoglu, C., Baspinar, B., Ure, N. K., Inalhan, G., Hybrid Systems Modelling and Automated Air Traffic Control for Three Dimensional Separation Assurance, Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2015.

Ure, N. K., Chowdhary, G., How, J. P., Vian, J. Health Aware Planning Under Uncertainty for Collaborating Heterogeneous Teams of Mobile Agents. Unmanned Systems, 2015.

Ure, N. K., Chowdhary, G., How, J. P., Vian, J., Multi-Agent Planning for
Persistent Surveillance, in the book Planning Under Uncertainty, Edited by Mykel J. Kochenderfer. MIT Press 2015.

Ure, N. K., Chowdhary, G., Toksoz, T., How, J. P., Vavrina, M., Vian, J. Automated Battery Management System for Enabling Multi-UAV Persistent Missions. IEEE Transactions on Mechatronics, 2015.

Ure, N. K., Chowdhary, G., Chen, S., How, J. P., Vian, J., Distributed Learning for Planning Under Uncertainty Problems with Heterogeneous Teams, Journal of Intelligent & Robotic Systems, 2014.

Ure, N. K., Inalhan G., Autonomous Control of Unmanned Combat Air Vehicles: Design of a Multimodal Control and Flight Planning Framework for Agile  Maneuvering, IEEE Control Systems Magazine, 32(5) 74-95. 2012.

Koyuncu, E., Ure, N. K., Inalhan G., Integration of path/maneuver planning in
complex environments for agile maneuvering UCAVs, Journal of Intelligent &
Robotic Systems, 57(1) 143-170. 2010.

Conference Publications

Kaymaz, M. and Ure, N.K., Obstacle Identification and Ellipsoidal Decomposition for Fast Motion Planning in Unknown Dynamic Environments, ICRA 2023.

Dagdanov, R., Durmus, H. and Ure, N.K., Self-Improving Safety Performance of Reinforcement Learning Based Driving with Black-Box Verification Algorithms, ICRA 2023.

Guresti, B., Vanlioglu, A., Ure, N. K., IQ-Flow: Mechanism Design for Inducing Cooperative Behavior to Self-Interested Agents in Sequential Social Dilemmas (2023), AAMAS 2023.

Demir, U., Satir, A. S., Sever, G., Yikilmaz, C., Ure, N. K., Scalable Planning and Learning Framework Development for Swarm-to-Swarm Engagement Problems (2023), In AIAA SCITECH 2023 Forum.

Dagdanov, R., Eksen, F., Durmus, H., Yurdakul, F.,Ure, N. K., DeFIX: Detecting and Fixing Failure Scenarios with Reinforcement Learning in Imitation Learning Based Autonomous Driving, IEEE Intelligent Transportation Systems Conference (ITSC), 2022.

Atik, K.C., Erdogan, E., Yahsi, A.Y., Kara, F., Yalcin, B., Cetin, G. and Ure, N.K., 2022, June. Cooperative Visual Inertial Odometry for Heterogeneous Swarm of Drones Navigating in Noisy Environments. In 2022 IEEE 31st International Symposium on Industrial Electronics (ISIE) (pp. 727-734). IEEE.

Kamar, D., Ure, N.K. and Ünal, G.B., 2022. GAN-based Intrinsic Exploration for Sample Efficient Reinforcement Learning. In ICAART (2) (pp. 264-272).

Kömürcü, K.K., Ince, B., Ok, T., Kilickaya, E. and Ure, N.K., 2022. Core Skill Decomposition of Complex Wargames with Reinforcement Learning. In AIAA SCITECH 2022 Forum (p. 2084).

Yikilmaz, C. and Ure, N.K., 2022. Deep Learning Based Fault Tolerant Thrust Vector Control. In AIAA SCITECH 2022 Forum (p. 0970).

Ozturk, A., Gunel, M.B., Dagdanov, R., Vural, M.E., Yurdakul, F., Dal, M. and Ure, N.K., 2021, July. Investigating Value of Curriculum Reinforcement Learning in Autonomous Driving Under Diverse Road and Weather Conditions. In 2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops) (pp. 358-363). IEEE.

Sadik, A., Demir, U,. Sever, G., Ure, N. K., Nonlinear Model Based Guidance with Deep Learning Based Target Trajectory Prediction Against Aerial Agile Attack Patterns, American Control Conference (ACC), 2021.

Ozturk, A., Gunel, M. B., Yavas, M. U., Ure. N. K., Development of A Stochastic Traffic Environment with Generative Time-Series Models for Improving Generalization Capabilities of Autonomous Driving Agents, IEEE Intelligent Vehicles Conference (IV), 2020.

Yavas, M. U., Kumbasar, T., Ure. N. K., Sample Efficient Deep Q Learning with a Safety Feedback Reward, IEEE Intelligent Vehicles Conference (IV), 2020.

Bicer, Y., Alizadeh, A., Ure, N. K., Erdogan, A., Kizilirmak, O., Sample Efficient Interactive End-to-End Deep Learning for Self-DrivingCars with Selective Multi-Class Safe Dataset Aggregation, IEEE International Conference on Intelligent Robots and Systems (IROS), 2019.

Alizadeh, A., Moghadam, M., Bicer, Y., Ure, N. K., Yavas, M. U., Kurtulus, C.,  Tactical Lane Changing with Deep Reinforcement Learning in Dynamic and Uncertain Traffic Scenarios, IEEE Intelligent Transportation Systems Conference (ITSC), 2019.

Ure N. K., Yavas, M. U., Alizadeh, A., Kurtulus, C., Enhancing Situational Awareness and Performance of Adaptive Cruise Control through Model Predictive Control and Deep Reinforcement Learning, IEEE Intelligent Vehicles Conference (IV), 2019.

Sahin, M. C., Eroglu, B., Ure, N. K., Kurt, H. B., Deep Recurrent and Convolutional Networks for Robust Fault Tolerant Autonomous Landing Control System Design Under Severe Conditions, AIAA Science and Technology Forum and Exposition, 2019.

Bicer, Y., Moghadam, M., Sahin, M. C., Eroglu, B., Ure, N. K., Vision-based UAV Guidance for an Autonomous Landing System using Deep Neural Networks, AIAA Science and Technology Forum and Exposition, 2019.

Eroglu, B., Sahin, C. M., Ure, N. K., Inalhan, G., Deep Recurrent and Convolutional Networks for Accelerated Fault Tolerant Adaptive Flight Control Under
Severe Failures, American Control Conference, 2018.

Yildiz, A., Ure, N. K., Inalhan, G., Online Algorithm for Optimizing Invariant Conditions for Procedural Nonlinear Constrained Hybrid Systems, American Control Conference, 2018.

Moghadam, M., Ure, N. K., Inalhan, G., Autonomous Execution of Aircraft Supermaneuverswith Switching Nonlinear Backstepping Control, AIAA Science and Technology Forum and Exposition, 2018.

Yildiz, A., Akcal, U. M., Hostas, B., Ure, N. K., Inalhan, G., Finite State Automata Based Approach toAutonomous Stall and Upset Recovery for Agile Aircraft, AIAA Guidance Navigation and Control Conference, AIAA Science and Technology Forum and Exposition, 2018.

Yuksek, B., Ure, N. K., Inalhan, G., Cooperative Interception of a Highly ManoeuvrableAerial Target, AIAA Guidance Navigation and Control Conference, AIAA Science and Technology Forum and Exposition, 2018.

Akcal, U. M., Hostas, B., Ure, N. K., Inalhan, G., Recoverability Envelope Analysis of Nonlinear ControlLaws for Agile Maneuvering Aircraft, AIAA Guidance Navigation and Control Conference, AIAA Science and Technology Forum and Exposition, 2018.

Hasanzade, M., Herekoglu O., Ure, N. K., Koyuncu, E., Yeniceri, R. and Inalhan, G., Localization and Tracking of RF Emitting Targets with Multiple Unmanned Aerial Vehicles in Large Scale Environments with Uncertain Transmitter Power,  2017 International Conference on Unmanned Aircraft Systems (ICUAS), June 13-16, 2017, Miami, FL, USA

Akcal, U. M., Yuksek. B., Ure, N. K., Modeling and Simulation of Aerobee-150A Sounding Rocket, AIAA Modeling and Simulation Technologies Conference, AIAA Science and Technology Forum and Exposition, 2017.

B., Ure, N. K., Koyuncu, E., Inalhan, G., Analysis of delay characteristics of European air traffic through a data-driven airport-centric queuing network model. IFAC-PapersOnLine, 49(3), 359-364, 2016.

Ure, N. K., Inalhan G., Predictive Missile Guidance for Agile Targets with Stochastic Hybrid Dynamics, IEEE Aerospace Conference, Big Sky MT, 2016.

Baspinar, B., Pasaoglu, C., Ure, N. K., Inalhan, G., , Infrastructure Development for Ground-Based Separation Assurance with Optional Automation, ATACCS, 2015.

Ure N. K., Omidshafiei S., Lopez B., Agha-mohammad A., How J. P., Vian J., Online Heterogeneous Multiagent Learning Under Limited Communication with Applications to Forest Fire Management, IROS, Hamburg, Germany, 2015.

Ure N. K., How J. P., Vian J., Randomized Coordination Discovery for Scalable Multiagent Planning, AAMAS, 2015.

Omidshafiei, S., Agha-mohammad, A., Chen, Y. F., Ure, N. K., How, J. P. , Vian, J., Surati, R., Window into Belief Space: A Projection-based Platform for Real-time Visualization and Testing of Planning and Learning Algorithms, AIAA Infotech@Aerospace Conference, 2015.

Agha-mohammadi A., Ure N. K.,  How. J. P., Vian J., Health Aware Stochastic Planning For Persistent Package Delivery Missions using Quadrotors, IROS, Chicago IL, 2014.

Chen Y. F., Ure N. K., Chowdhary G., How. J. P., Vian J., Planning for Large-Scale Multiagent Problems via Hierarchical Decomposition with Applications to UAV Health Management, In: American Control Conference, Portland OR, 2014.

Amato C., Chowdhary G., Geramifard A., Ure N. K., “Decentralized Control of Partially Observable Markov Decision Processes”, The 52nd IEEE Conference on Decision and Control (CDC), 2013.

Ure, N. K., Chowdhary, G., Chen, S., How, J. P., Vian, J., Decentralized
Learning based Planning Multiagent Missions in Presence of Actuator Failures In: International Conferences on Unmanned Aircraft Systems, Atlanta GA 2013.

Ure, N. K., Chowdhary, G., How, J. P., Vavrina, M., Vian, J. Health Aware Planning
Under Uncertainty for UAV Missions with Heterogeneous Teams In: European
Control Conference. 2013.

Ure, N. K., Chowdhary, G., Chen, S., How, J. P., Vian, J., Health-Aware Decentralized Planning and Learning for Large-scale Multiagent Missions In: Conference on Guidance Navigation and Control, Boston MA 2013.

Ure, N. K., Geramifard, A., Chowdhary, G., How, J. P., Adaptive Planning for Markov Decision Processes with Uncertain Transition Models via Incremental Feature Dependency Discovery In: European Conference on Machine Learning, Bristol UK 2012.

Chowdhary, G., Ure, N. K., How, J. P., Kingravi H., Model Reference Adaptive
Control using Nonparametric Adaptive Elements In: Conference on Guidance
Navigation and Control, Minneapolis MN 2012.

Chowdhary, G., Muhlegg, M., Ure, N. K., Johnson, E., How, J. P., Experimental
Results of Concurrent Learning Adaptive Controller In: Conference on Guidance
Navigation and Control, Minneapolis MN 2012.

Ure, N. K., Toksoz, T., Chowdhary, G., Redding, J., How, J. P., Vavrina, M., Vian,
J., Experimental Demonstration of Multi-Agent Learning and Planning under
Uncertainty for Persistent Missions with Automated Battery Management In:
Conference on Guidance Navigation and Control, Minneapolis MN 2012. (Best Paper Award)

Redding, J., Ure, N. K., How, J. P., Vavrina, M., Vian, J., Scalable, MDP-based
Planning for Multiple, Cooperating Agents In: American Control Conference,
Montreal Canada 2012.

Cutler, M., Ure, N. K., Michini, B., How, J. P., Comparison of Fixed and Variable
Pitch Actuators for Agile Quadrotors In: Conference on Guidance Navigation
and Control, Portland OR 2011.

Redding, J., Toksoz, T., Ure, N. K., How, J. P., Vavrina, M., Vian, J., Persistent
Distributed Multi-Agent Missions with Automated Battery Management
In: Conference on Guidance Navigation and Control, Portland OR 2011.

Michini, B., Redding, J., Ure, N. K., Cutler, M., How, J. P., , Design and Flight
Testing of an Autonomous Variable-Pitch Quadrotor In: International Conference
on Robotics and Automation, Shanghai China 2011.

Ure, N. K., Kaya, Y. B., Inalhan G., The development of a Software and Hardware in- the-Loop Test System for ITU-PSAT II nano satellite ADCS In : Aerospace
Conference, Big Sky MT 2011.

Ure, N. K., Koyuncu, E., Kurtulus, C., Inalhan G., ITU PSAT II: Attitute Controlled
Nano Satellite Platform Developing Project, In : National Conference on
Aeronautics and Astronautics, Eskisehir Turkey 2010.

Koyuncu, E., Ure, N. K., Inalhan G., Integration of path/maneuver planning in
complex environments for agile maneuvering UCAVs In: Int. Symposium on
Unmanned Aerial Vehicles, Reno, Nevada 2009.

Ure, N. K., Inalhan G., Design of a Multi Modal Control Framework for Agile
Maneuvering UCAVs In : Aerospace Conference, Big Sky MT 2009.

Ure, N. K., Inalhan G., Feasible Agile Maneuver Identification and Generation
Algorithms on Multi Modal Control Framework In : Conference on Guidance
Navigation and Control, Chicago IL 2009.

Ure, N. K., Inalhan G., ’Design of Higher Order Sliding Mode Control Laws for
Multi Modal Agile Maneuvering UCAVs In : Int. Symposium on Systems and
Controls in Aerospace, Shenzen China 2008.

Koyuncu, E., Ure, N. K., Inalhan G., A Probabilistic Algorithm for Mode Based
Motion Planning of Agile Air Vehicles in Complex Environments In: Int. Federation
of Automatic Control World Congress 2008.