126 citations · 965 across the 33 of their papers we have counts for
8 papers · 1 filter
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…