2 citations · 3 across the 18 of their papers we have counts for
20 papers
Reduced Order Observers for Monocular Visual Inertial Odometry
Amel Abi, Mouaad Boughellaba, Miaomiao Wang +1
This work develops a reduced order observer framework of monocular visual-inertial odometry (VIO). The key idea consists in considering the gravity vector in the body-frame as an a…
Leader-follower Attitude Synchronization of Rigid-body Systems on SO(3)
Yiliang Li, Jun-e Feng, Abdelhamid Tayebi
This paper addresses the leader-follower attitude synchronization problem on for a group of heterogeneous rigid body systems. The reference attitude, represented b…
Velocity-free Attitude Synchronization Using Vector Measurements
Melika Afshari, Mouaad Boughellaba, Abdelhamid Tayebi
This paper addresses the velocity-free leaderless and leader--follower distributed attitude synchronization of a network of rigid body systems, with inertial vector measurements, u…
Dynamic Constrained Stabilization on the n-sphere (Extended version)
Mayur Sawant, Abdelhamid Tayebi
We consider the constrained stabilization problem of second-order systems evolving on the n-sphere. We propose a control strategy with a constraint proximity-based dynamic damping…
MPC-Based Trajectory Tracking for a Quadrotor UAV with Uniform Semi-Global Asymptotic Stability Guarantees
Qian Yang, Miaomiao Wang, Abdelhamid Tayebi
This paper proposes a model predictive trajectory tracking approach for quadrotor UAVs subject to input constraints. Our proposed approach relies on a hierarchical control strategy…
Distributed Hybrid Feedback for Global Pose Synchronization of Multiple Rigid Body Systems on
Fengyu Lin, Miaomiao Wang, Housheng Su +1
This paper investigates the problem of pose synchronization for multiple rigid body systems evolving on the matrix Lie group $\SE(3)$. We propose a distributed hybrid feedback cont…
Robust Adaptive Learning Control for a Class of Non-affine Nonlinear Systems
Shuai Gao, Dong Shen, Abdelhamid Tayebi
We address the tracking problem for a class of uncertain non-affine nonlinear systems with high relative degrees, performing non-repetitive tasks. We propose a rigorously proven, r…
A Leader-Follower Approach for The Attitude Synchronization of Multiple Rigid Body Systems on
Yiliang Li, Jun-e Feng, Abdelhamid Tayebi
This paper deals with the leader-follower attitude synchronization problem for a group of heterogeneous rigid body systems on under an undirected, connected, and acyclic gr…
Nonlinear Observer Design for Visual-Inertial Odometry
Mouaad Boughellaba, Abdelhamid Tayebi, James R. Forbes +1
This paper addresses the problem of Visual-Inertial Odometry (VIO) for rigid body systems evolving in three-dimensional space. We introduce a novel matrix Lie group structure, deno…
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…
A Dimension-Keeping Semi-Tensor Product Framework for Compressed Sensing
Qi Qi, Abdelhamid Tayebi, Daizhan Cheng +1
In compressed sensing (CS), sparse signals can be reconstructed from significantly fewer samples than required by the Nyquist-Shannon sampling theorem. While non-sparse signals can…
Constrained Stabilization on the n-Sphere with Conic and Star-shaped Constraints
Mayur Sawant, Abdelhamid Tayebi
The problem of constrained stabilization on the n-sphere under star-shaped constraints is considered. We propose a control strategy that allows one to almost globally steer the sta…
Nonlinear Observer Design for Landmark-Inertial Simultaneous Localization and Mapping
Mouaad Boughellaba, Soulaimane Berkane, Abdelhamid Tayebi
This paper addresses the problem of Simultaneous Localization and Mapping (SLAM) for rigid body systems in three-dimensional space. We introduce a new matrix Lie group SE_{3+n}(3),…
Attitude Synchronization on SO(3) for Heterogeneous Multi-Agent Systems Using Vector Measurements
Mouaad Boughellaba, Soulaimane Berkane, Abdelhamid Tayebi
This paper addresses the distributed attitude synchronization problem for a network of rigid-body systems on the special orthogonal group SO(3). Each agent measures, in its body fr…
From Kinematic Motion Planners to Dynamic Autonomous Navigation with Obstacle Avoidance (Extended version)
Mayur Sawant, Abdelhamid Tayebi
Kinematic motion planners are among the most widely used control approaches in robotic applications. By modeling the robot as a first-order system, they generate a feedback-based d…
Global Attitude Synchronization for Heterogeneous Multi-agent Systems on SO(3)
Mouaad Boughellaba, Soulaimane Berkane, Abdelhamid Tayebi
In this paper, we address the problem of attitude synchronization for a group of rigid body systems evolving on SO(3). The interaction among these systems is modeled through an und…
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…
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 Control for Global and Optimal Safe Navigation
Ishak Cheniouni, Soulaimane Berkane, Abdelhamid Tayebi
We propose a hybrid feedback control strategy that safely steers a point-mass robot to a target location optimally from all initial conditions in the n-dimensional Euclidean space…
N-dimensional Convex Obstacle Avoidance using Hybrid Feedback Control (Extended version)
Mayur Sawant, Ilia Polushin, Abdelhamid Tayebi
This paper addresses the autonomous robot navigation problem in a priori unknown n-dimensional environments containing disjoint convex obstacles of arbitrary shapes and sizes, with…