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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
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…
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…