36 citations · 128 across the 10 of their papers we have counts for
10 papers
Pose, Velocity and Landmark Position Estimation Using IMU and Bearing Measurements
Miaomiao Wang, Abdelhamid Tayebi
This paper investigates the estimation problem of the pose (orientation and position) and linear velocity of a rigid body, as well as the landmark positions, using an inertial meas…
Hybrid Feedback for Affine Nonlinear Systems with Application to Global Obstacle Avoidance (Extended Version)
Miaomiao Wang, Abdelhamid Tayebi
This paper explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability. A new hybrid contro…
Nonlinear Attitude Estimation Using Intermittent and Multi-Rate Vector Measurements
Miaomiao Wang, Abdelhamid Tayebi
This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high…
Nonlinear Attitude Estimation Using Intermittent Linear Velocity and Vector Measurements
Miaomiao Wang, Abdelhamid Tayebi
This paper investigates the problem of continuous attitude estimation on using continuous angular velocity and linear acceleration measurements as well as intermittent line…
Nonlinear Observers Design for Vision-Aided Inertial Navigation Systems
Miaomiao Wang, Soulaimane Berkane, Abdelhamid Tayebi
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO…
Hybrid Feedback for Global Tracking on Matrix Lie Groups and
Miaomiao Wang, Abdelhamid Tayebi
We introduce a new hybrid control strategy, which is conceptually different from the commonly used synergistic hybrid approaches, to efficiently deal with the problem of the undesi…
Observers Design for Inertial Navigation Systems: A Brief Tutorial
Miaomiao Wang, Abdelhamid Tayebi
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many roboti…
Nonlinear State Estimation for Inertial Navigation Systems With Intermittent Measurements
Miaomiao Wang, Abdelhamid Tayebi
This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types…
Hybrid Nonlinear Observers for Inertial Navigation Using Landmark Measurements
Miaomiao Wang, Abdelhamid Tayebi
This paper considers the problem of attitude, position and linear velocity estimation for rigid body systems relying on landmark measurements. We propose two hybrid nonlinear obser…
On the Design of Hybrid Pose and Velocity-bias Observers on Lie Group SE(3)
Miaomiao Wang, Abdelhamid Tayebi
This paper deals with the design of globally exponentially stable invariant observers on the Special Euclidian group SE(3). First, we propose a generic hybrid observer scheme (depe…