Supervised Theses

Supervision: Prof. Klaus Werner Schmidt

2026 Theses

This is a list fo the theses completed in 2026 together with research infographics and short summaries where available.

2026
Infographic for Angular Bundle Adjustment with Rotational Bias Estimation to Assist Multisensor Angle-Only Target Tracking
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Ph.D. Thesis

Angular Bundle Adjustment with Rotational Bias Estimation to Assist Multisensor Angle-Only Target Tracking

Muhammed Yeşilkaya•Ph.D. Thesis•September 2026
Supervisor: Prof. Dr. Klaus Werner Schmidt

Muhammed Yeşilkaya’s Ph.D. thesis develops new methods for multisensor 3D angle-only target localization in the presence of sensor-orientation biases. The work formulates the problem as angular bundle adjustment, jointly estimating target positions and rotational sensor biases from synchronized angular measurements. A manifold-based formulation represents rotations directly on SO(3) and applies Riemannian trust-region optimization, improving finite-iteration behavior especially in weak and long-range sensor-target geometries.

The thesis also introduces a complementary hybrid ML/MAP formulation on Euler angles, where prior statistical information on sensor biases is combined with the angular measurements. This approach improves localization accuracy when reliable calibration or navigation uncertainty information is available. Together, the two methods provide a geometry-aware framework for robust passive multisensor localization and form a basis for future extensions to time-varying biases, synchronization errors, and recursive target tracking.

Infographic for Comparative Evaluation of Offset Scheduling Methods for AFDX Networks
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M.Sc. Thesis

Comparative Evaluation of Offset Scheduling Methods for AFDX Networks

Kaan Çelik•M.Sc. Thesis•September 2026
Advisors: Prof. Dr. Şenan Ece Schmidt and Prof. Dr. Klaus Werner Schmidt

Kaan Çelik’s thesis investigates how transmission offsets can be exploited to obtain tighter worst-case end-to-end delay guarantees in safety-critical AFDX networks. The work identifies a correctness issue in existing offset-aware Network Calculus when same-source Virtual Links diverge and later reconverge, and introduces route-coherent source groups to preserve source-timing information only while justified by the common route history.

A VL-specific analysis based on exact and compacted source sequences further reduces pessimism. In the largest A350-like configuration, the method provides tighter bounds for 99.9% of destination paths, with a 31.92% mean path-level reduction, while preserving conservative timing guarantees.

Infographic for A Unified Road Modeling and Trajectory Computation Framework for Autonomous Vehicles Based on Clothoid Curves
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M.Sc. Thesis

A Unified Road Modeling and Trajectory Computation Framework for Autonomous Vehicles Based on Clothoid Curves

Gülce Nur Arman Gülten•M.Sc. Thesis•June 2026
Supervisor: Prof. Dr. Klaus Werner Schmidt

This thesis develops a unified analytical framework that converts precise HD-map road and lane geometry into compact clothoid-based representations directly usable for trajectory generation. A hierarchical fitting strategy selects line, Generalized Elementary Path (GEP), or piecewise-linear clothoid models according to geometric complexity, while parallel-shift representations exploit the common geometry of regular lanes and boundaries.

Evaluated on 5,351 lane geometries, the framework achieves a 7.5 mm mean RMS fitting error and a 19.3 mm 95th-percentile RMS error. About 64% of the geometries are represented by the simpler line or GEP models, while local PWL refinement is required in only 0.4% of the cases. The resulting analytical road representation is further used for curvature-based speed-profile generation with acceleration and jerk constraints and validated through Model Predictive Control (MPC) trajectory tracking.

Infographic for QoS-Aware User Grouping and Beam Placement for Resource-Constrained LEO Satellite Downlinks
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M.Sc. Thesis

QoS-Aware User Grouping and Beam Placement for Resource-Constrained LEO Satellite Downlinks

İsmail Hakkı Armutcu•M.Sc. Thesis•June 2026

This thesis develops QoS-Aware Split-Refine, an interpretable planning method for resource-constrained LEO satellite downlinks. The method jointly considers satellite visibility and association, user traffic demand, QoS priorities, beam coverage, link rates, and satellite payload limits. Rather than fixing the number of beams in advance, user groups are recursively split until they form feasible beams, followed by QoS-aware beam-center refinement, load balancing, and payload repair.

Experiments over regional LEO snapshots show that the proposed approach keeps high-priority users away from weak beam-edge regions while substantially reducing peak beam utilization and maintaining payload feasibility. The method remains practical at regional scale, with median runtimes of 1.86 s for 1,000 users and 6.32 s for 2,000 users, positioning it as a scalable intermediate layer between geometric beam clustering and full dynamic satellite resource allocation.

Additional M.Sc. Theses Completed in 2026

M.Sc. Thesis

Design and Evaluation of a Secure CAN XL Communication Framework with Session-Key Management and Authenticated Time Synchronization

Furkan Özen
August 2026
M.Sc. Thesis

A Real-Time, Tiled C++ Runtime Library for High-Definition Autonomous Vehicle Maps: Implementation and Evaluation

Salih Namık Özen
September 2026
M.Sc. Thesis

Development of a Deterministic, High-Speed, Multi-Level Multi-Drop Shared Communication Bus for Automotive Applications

Tan Çağatay Acar
September 2026
Co-advisor: Prof. Dr. Ece Guran Schmidt

Completed Ph.D. Theses

  1. Angular Bundle Adjustment with Rotational Bias Estimation to Assist Multisensor Angle-Only Target Tracking — Muhammed Yeşilkaya, 2026.
  2. RG-Trees: Nonlinear and deterministic extensions to reference governor trees — Ferhat Gölbol, 2025.
  3. Controller design for heterogeneous platoons in the presence of actuator saturation and time-varying communication delays — Hilal Bingöl, 2024.
  4. A general framework for the deterministic medium access on the controller area network — Murat Akpınar, 2022. Co-supervisor: Prof. Dr. Ece Guran Schmidt.
  5. Communication and coordination for urban intelligent transportation: Architecture and algorithms — Maksat Atagoziyev, 2022. Co-supervisor: Prof. Dr. Ece Guran Schmidt.
  6. Order-preserving models for discrete event systems: Theory and applications — Anas Nooruldeen, 2022.
  7. Trajectory planning and obstacle avoidance for omnidirectional robots — Mohammed Rabeea Hashim Al-Dahhan, 2020.
  8. Analysis of lane changes for vehicle strings on highways: String stability, driving safety and comfort — Hüseyin Buğra Sağlam, 2017.
  9. Optimal control problems for safe and efficient lane changes of self-driving vehicles — Ahmed Hussam Mohammed Ali, 2017.
  10. Model-based design of hierarchical control systems — Sebastian Perk, 2009.

Completed M.Sc. Theses (Supervised)

  1. A Real-Time, Tiled C++ Runtime Library for High-Definition Autonomous Vehicle Maps: Implementation and Evaluation — Salih Namık Özen, 2026.
  2. Development of a Deterministic, High-Speed, Multi-Level Multi-Drop Shared Communication Bus for Automotive Applications — Tan Çağatay Acar, 2026. Co-advisor: Prof. Dr. Ece Guran Schmidt.
  3. Design and Evaluation of a Secure CAN XL Communication Framework with Session-Key Management and Authenticated Time Synchronization — Furkan Özen, 2026.
  4. A Unified Road Modeling and Trajectory Computation Framework for Autonomous Vehicles Based on Clothoid Curves — Gülce Nur Arman Gülten, 2026.
  5. QoS-Aware User Grouping and Beam Placement for Resource-Constrained LEO Satellite Downlinks — İsmail Hakkı Armutcu, 2026.
  6. Sensor processing and controller design for trajectory tracking of autonomous vehicles — Muzaffer Temelli, 2025.
  7. Predicting pedestrian crossing behavior with attention-based encodings of vehicle and pedestrian states — Mehmet Ali Kumral, 2025.
  8. An efficient road representation for autonomous vehicles using arc-splines with application to trajectory planning — Atakan Salih Bolat, 2024.
  9. Maneuver optimization for autonomous vehicles using trajectory templates — O.F. Arslan, 2024.
  10. Lane change prediction for autonomous vehicles using trajectory templates — İ.H. Yıldız, 2024.
  11. Estimation of vehicle signals for autonomous driving applications — Halil Temurtaş, 2022.
  12. Cooperative adaptive cruise control with predicted vehicle information: Development and evaluation — Furkan Kılıç, 2022.
  13. Linear parameter varying control for autonomous systems: Methods and application examples — Fatih Çalış, 2022.
  14. Hierarchical and modular control of reconfigurable manufacturing systems — Övül Arslan, 2022.
  15. Transfer functions with positive impulse response: Feedback controller design and application to cooperative adaptive cruise control — İbrahim Tayyip İşler, 2021.
  16. Sensor fusion of a camera and 2D LIDAR for lane detection and tracking — Yasin Yeniaydın, 2019.
  17. String stability analysis of cooperative adaptive cruise control (CACC) with actuator saturation — Hilal Bingöl, 2017.
  18. Trajectory generation for open/close gap maneuvers in vehicle strings — Erkam Çankaya, 2017.
  19. Design and evaluation of cooperative adaptive cruise control (CACC) for the improvement of highway traffic flow — Ahmed M. H. Al-Jhayyish, 2016.
  20. Fault recovery for discrete event systems — Ayşe Nur Acar, 2015.
  21. Platooning of vehicles in intelligent transportation systems — Inas Deaibil, 2015.
  22. Applications of fault-tolerant supervisory control for discrete event systems — Sarmad Nozaad Mahmood, 2014.
  23. Design of a photovoltaic power converter for driving and controlling AC motors — Hamed Soodi, 2014.
  24. Applications of reconfigurable manufacturing systems: A laboratory case study — Harith M. Khalid, 2014.
  25. Design and implementation of a 1kW single phase grid tied inverter — Oğuz Şimşek, 2013.
  26. Driver design for asynchronous motors: Digital signal processing, control and data acquisition — Habib Özer Öz, 2012.
  27. Modeling, control and simulation of a drinking water treatment plant — Faisel Saber, 2012.
  28. Development of a water tank laboratory experiment — Abas Anwar, 2012.
  29. Supervisory control for reconfigurable manufacturing systems: Structural changes and re-usability of controllers — Anas Nooruldeen, 2012.
  30. Development of a DC-motor control laboratory experiment — Ardm Haseeb, 2012.
  31. Failure diagnosis for hierarchical and decentralized discrete event systems — Thomas Barthel, 2009.
  32. Aggregation of networked discrete event controllers: Theoretical development and simulation study — Ingo Petzoldt, 2008.
  33. Communication models for networked discrete event controllers — Jorgos Zaddach, 2007.
  34. Hierarchical control of discrete event systems: Computation of abstractions and maximal permissiveness — Christian Breindl, 2007.
  35. Finite state automata as a programming language for the IEC 61131-3 norm — Bernd Schlein, 2006.
  36. Methods of supervisory control: A software implementation — B. Opitz, 2006.
  37. Hierarchical design of discrete event controllers: An automated manufacturing system case study — Sebastian Perk, 2005.
  38. Design, implementation and validation of supervisory control for an automated manufacturing system — Stephan Figgen, 2005.
  39. Application of nonlinear control methods for the vibration isolation of commercial vehicle seats — Thomas Timm, 2003.
  40. Application and extension of decentralized supervisory control for discrete event systems — Gökben Ersoy, 2003.
  41. Development of a hardware-in-the-loop simulation environment for the study of semi-active dampers in commercial vehicle seats — Martin Seltsam, 2002.

Completed M.Sc. Theses (Co-Supervised)

  1. Comparative Evaluation of Offset Scheduling Methods for AFDX Networks — Kaan Çelik, 2026. Joint advisors: Prof. Dr. Şenan Ece Schmidt and Prof. Dr. Klaus Werner Schmidt.
  2. Offset scheduling for AFDX: definition, response time computation, and evaluation — Muhammed Fatih Elgin, 2025.
  3. Dynamic, adaptive, and optimal resource allocation and migration in cloud data centers — Onat Deniz Doğan, 2025.
  4. Optimizing air conditioner system efficiency through reinforcement learning — Mehmet Burak Hekimoğlu, 2025.
  5. Optimal resource allocation and migration decision for virtual machine requests in cloud data centers — Nazım Kerem Mert, 2023.
  6. An analytical method for the analysis and design of AFDX networks — Zeynep Ayhan, 2023.
  7. Clock synchronization and weak TDMA for CAN FD: Implementation and evaluation — İsmet Onur Demirel, 2022.
  8. Clock synchronization algorithms on a software-defined CAN controller: Implementation and evaluation — Serkan Yalçın, 2020.
  9. Telegram scheduling for the periodic phase of the multifunction vehicle bus — Mustafa Çağlar Güldiken, 2020.
  10. Optimal dynamic resource allocation for heterogeneous cloud data centers — Nazım Umut Ekici, 2019.
  11. C3: Configurable CAN FD controller: Design, implementation and evaluation — Mehmet Ertuğ Afşin, 2018.
  12. Message scheduling for the static and dynamic segment of FlexRay: Algorithms and applications — Özgür Kızılay, 2016.
  13. Controller Area Network (CAN) response time analysis and scheduling for advanced topics: Offsets, FIFO queues and gateways — Burak Alkan, 2015.
  14. A frame packing method to improve the schedulability on CAN and CAN-FD — Gökhan Urul, 2015.
  15. Combined centralized and decentralized fault diagnosis for discrete event systems — Ruhi Karav, 2014.
  16. Diagnosers for discrete event systems: Improved realization and examples — Bora Eser Kart, 2014.
  17. Implementation and evaluation of the Dynamic Distributed Real Time Industrial Protocol (D2RIP) — Adem Kaya, 2013.
  18. Implementation and evaluation of the dependability plane for the Dynamic Distributed Dependable Real Time Industrial Protocol (D3RIP) — Ömer B. Sezer, 2013.
  19. An FPGA implementation of two-step trajectory planning for automatic parking — Halil Erturgul, 2013.
  20. Software tool development for the automated configuration of FlexRay networks for in-vehicle communication — Can Öztürk, 2013.
  21. Reducing worst-case message response times on CAN networks — Vakkas Çelik, 2012.