3 papers
eess.SY2026
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…
eess.SY2025
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),…
eess.SY2025
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…