8 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…
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…
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…
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…
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…
Bearing-based distributed pose estimation for multi-agent networks
Mouaad Boughellaba, Abdelhamid Tayebi
In this paper, we address the distributed pose estimation problem for multi-agent systems, where the agents have unknown static positions and time-varying orientations. The interac…
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…