From the 1 of 22 linked papers with an AI index.
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Attitude Estimation Using Inertial and Barometric Measurements
Melone Nyoba Tchonkeu, Soulaimane Berkane, Tarek Hamel
The paper proposes a barometer‑aided attitude estimation scheme that fuses IMU data with barometric altitude measurements to improve tilt estimation for autonomous vehicles in GNSS…
Tutorial on Aided Inertial Navigation Systems: A Modern Treatment Using Lie-Group Theoretical Methods
Soulaimane Berkane
This tutorial presents a control-oriented introduction to aided inertial navigation systems using a Lie-group formulation centered on the extended Special Euclidean group SE_2(3).…
Cascaded Tightly-Coupled Observer Design for Single-Range-Aided Inertial Navigation
Oussama Sifour, Soulaimane Berkane, Abdelhamid Tayebi
This work introduces a single-range-aided navigation observer that reconstructs the full state of a rigid body using only an Inertial Measurement Unit (IMU), a body-frame vector me…
Hybrid Feedback Control for Global Navigation with Locally Optimal Obstacle Avoidance in n-Dimensional Spaces
Ishak Cheniouni, Soulaimane Berkane, Abdelhamid Tayebi
We present a hybrid feedback control framework for autonomous robot navigation in n-dimensional Euclidean spaces cluttered with spherical obstacles. The proposed approach ensures s…
Barometer-Aided Attitude Estimation
Méloné Nyoba Tchonkeu, Soulaimane Berkane, Tarek Hamel
Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement…
Observer Design for Optical Flow-Based Visual-Inertial Odometry with Almost-Global Convergence
Tarek Bouazza, Soulaimane Berkane, Minh-Duc Hua +1
This paper presents a novel cascaded observer architecture that combines optical flow and IMU measurements to perform continuous monocular visual-inertial odometry (VIO). The propo…