126 citations · 965 across the 33 of their papers we have counts for
39 papers
UWB Ranging and IMU Data Fusion: Overview and Nonlinear Stochastic Filter for Inertial Navigation
Hashim A. Hashim, Abdelrahman E. E. Eltoukhy, Kyriakos G. Vamvoudakis
This paper proposes a nonlinear stochastic complementary filter design for inertial navigation that takes advantage of a fusion of Ultra-wideband (UWB) and Inertial Measurement Uni…
An Observer-Based Reinforcement Learning Solution for Model-Following Problems
Mohammed I. Abouheaf, Kyriakos G. Vamvoudakis, Mohammad A. Mayyas +1
In this paper, a multi-objective model-following control problem is solved using an observer-based adaptive learning scheme. The overall goal is to regulate the model-following err…
Nonlinear Deterministic Observer for Inertial Navigation using Ultra-wideband and IMU Sensor Fusion
Hashim A. Hashim, Abdelrahman E. E. Eltoukhy, Kyriakos G. Vamvoudakis +1
Navigation in Global Positioning Systems (GPS)-denied environments requires robust estimators reliant on fusion of inertial sensors able to estimate rigid-body's orientation, posit…
An Online Model-Following Projection Mechanism Using Reinforcement Learning
Mohammed I. Abouheaf, Hashim A. Hashim, Mohammad A. Mayyas +1
In this paper, we propose a model-free adaptive learning solution for a model-following control problem. This approach employs policy iteration, to find an optimal adaptive control…
Observer-based Controller for VTOL-UAVs Tracking using Direct Vision-Aided Inertial Navigation Measurements
Hashim A. Hashim, Abdelrahman E. E. Eltoukhy, Akos Odry
This paper proposes a novel observer-based controller for Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) designed to directly receive measurements from a Vision…
Adaptive Neural Network Stochastic-Filter-based Controller for Attitude Tracking with Disturbance Rejection
Hashim A. Hashim, Kyriakos G. Vamvoudakis
This paper proposes a real-time neural network (NN) stochastic filter-based controller on the Lie Group of the Special Orthogonal Group as a novel approach to the attitude…
Exponentially Stable Observer-based Controller for VTOL-UAVs without Velocity Measurements
Hashim A. Hashim
There is a great demand for vision-based robotics solutions that can operate using Global Positioning Systems (GPS), but are also robust against GPS signal loss and gyroscope failu…
Neural-adaptive Stochastic Attitude Filter on SO(3)
Hashim A. Hashim, Mohammed Abouheaf, Kyriakos G. Vamvoudakis
Successful control of a rigid-body rotating in three dimensional space requires accurate estimation of its attitude. The attitude dynamics are highly nonlinear and are posed on the…
Nonlinear Deterministic Filter for Inertial Navigation and Bias Estimation with Guaranteed Performance
Ajay Singh Ludher, Marium Tawhid, Hashim A. Hashim
Unmanned vehicle navigation concerns estimating attitude, position, and linear velocity of the vehicle the six degrees of freedom (6 DoF). It has been known that the true navigatio…
Stochastic Observer for SLAM on the Lie Group
Marium Tawhid, Ajay Singh Ludher, Hashim A. Hashim
A robust nonlinear stochastic observer for simultaneous localization and mapping (SLAM) is proposed using the available uncertain measurements of angular velocity, translational ve…
Asymptotically Stable Observer-based Controller for Attitude Tracking with Systematic Convergence
Hashim A. Hashim
This paper proposes a novel unit-quaternion observer-based controller for attitude tracking (attitude and angular velocity) with guaranteed transient and steady-state performance.…
Geometric Stochastic Filter with Guaranteed Performance for Autonomous Navigation based on IMU and Feature Sensor Fusion
Hashim A. Hashim, Mohammed Abouheaf, Mohammad A. Abido
This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dy…
GPS-denied Navigation: Attitude, Position, Linear Velocity, and Gravity Estimation with Nonlinear Stochastic Observer
Hashim A Hashim
Successful navigation of a rigid-body traveling with six degrees of freedom (6 DoF) requires accurate estimation of attitude , position, and linear velocity. The true navigation dy…
A Geometric Nonlinear Stochastic Filter for Simultaneous Localization and Mapping
Hashim A. Hashim
Simultaneous Localization and Mapping (SLAM) is one of the key robotics tasks as it tackles simultaneous mapping of the unknown environment defined by multiple landmark positions a…
Nonlinear Filter for Simultaneous Localization and Mapping on a Matrix Lie Group using IMU and Feature Measurements
Hashim A. Hashim, Abdelrahman E. E. Eltoukhy
Simultaneous Localization and Mapping (SLAM) is a process of concurrent estimation of the vehicle's pose and feature locations with respect to a frame of reference. This paper prop…
Landmark and IMU Data Fusion: Systematic Convergence Geometric Nonlinear Observer for SLAM and Velocity Bias
Hashim A. Hashim, Abdelrahman E. E. Eltoukhy
Navigation solutions suitable for cases when both autonomous robot's pose (\textit{i.e}., attitude and position) and its environment are unknown are in great demand. Simultaneous L…
FLC tuned with Gravitational Search Algorithm for Nonlinear Pose Filter
Trenton S Sieb, Ajay Singh, Lorelei Guidos +1
Nonlinear pose (\textit{i.e,} attitude and position) filters are characterized with simpler structure and better tracking performance in comparison with other methods of pose estim…
Fast Adaptation Nonlinear Observer for SLAM
Trevor P. Drayton, Abdul A. Jaiyeola, Nazmul Hoque +2
The process of simultaneously mapping the environment in three dimensional (3D) space and localizing a moving vehicle's pose (orientation and position) is termed Simultaneous Local…
Nonlinear Attitude Filter on SO(3): Fast Adaptation and Robustness
Ajay Singh, Trenton S. Sieb, James H. Howe +1
Nonlinear attitude filters have been recognized to have simpler structure and better tracking performance when compared with Gaussian attitude filters and other methods of attitude…
Guaranteed Performance Nonlinear Observer for Simultaneous Localization and Mapping
Hashim A. Hashim
A geometric nonlinear observer algorithm for Simultaneous Localization and Mapping (SLAM) developed on the Lie group of \mathbb{SLAM}_{n}\left(3\right) is proposed. The presented n…
Nonlinear Stochastic Estimators on the Special Euclidean Group SE(3) using Uncertain IMU and Vision Measurements
Hashim A Hashim, Frank L Lewis
Two novel robust nonlinear stochastic full pose (i.e, attitude and position) estimators on the Special Euclidean Group SE(3) are proposed using the available uncertain measurements…
Systematic Convergence of Nonlinear Stochastic Estimators on the Special Orthogonal Group SO(3)
Hashim A. Hashim
This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group \mathbb{SO}\left(3\right) with the tracking error of the normaliz…
Attitude Determination and Estimation using Vector Observations: Review, Challenges and Comparative Results
Hashim A Hashim
This paper concerns the problem of attitude determination and estimation. The early applications considered algebraic methods of attitude determination. Attitude determination algo…
Special Orthogonal Group SO(3), Euler Angles, Angle-axis, Rodriguez Vector and Unit-Quaternion: Overview, Mapping and Challenges
Hashim A. Hashim
The attitude of a rigid-body in the three dimensional space has a unique and global definition on the Special Orthogonal Group SO (3). This paper gives an overview of the rotation…