3 papers
eess.SY2024
Safe and Quasi-Optimal Autonomous Navigation in Environments with Convex Obstacles
Ishak Cheniouni, Soulaimane Berkane, Abdelhamid Tayebi
We propose a continuous feedback control strategy that steers a point-mass vehicle safely to a destination, in a quasi-optimal manner, in sphere worlds. The main idea consists in a…
eess.SY2024
Distributed Attitude Estimation for Multi-agent Systems on
Mouaad Boughellaba, Abdelhamid Tayebi
We consider the problem of distributed attitude estimation of multi-agent systems, evolving on , relying on individual angular velocity and relative attitude measurements. T…
cs.RO2024
Hybrid Feedback Control Design for Non-Convex Obstacle Avoidance
Mayur Sawant, Ilia Polushin, Abdelhamid Tayebi
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments containing obstacles, with arbitrary non-convex shapes, which can be in close pr…