36 citations · 144 across the 26 of their papers we have counts for
32 papers
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…
Hybrid Feedback for Affine Nonlinear Systems with Application to Global Obstacle Avoidance (Extended Version)
Miaomiao Wang, Abdelhamid Tayebi
This paper explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability. A new hybrid contro…
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…
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…
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…
Safe and Quasi-Optimal Autonomous Navigation in Sphere Worlds
Ishak Cheniouni, Abdelhamid Tayebi, Soulaimane Berkane
We propose a continuous feedback control strategy that steers a point-mass vehicle safely to a desired destination, in a quasi-optimal manner, from almost all initial conditions in…
Modeling of Four-Winged Micro Ornithopters Inspired by Dragonflies
Oussama Sifour, Soulaimane Berkane, Abdelhamid Tayebi
In this paper, we present a full dynamical model of a four-winged micro ornithopter inspired by a dragonfly-type insect. The micro ornithopter is modeled as four articulated rigid…
Nonlinear Attitude Estimation Using Intermittent and Multi-Rate Vector Measurements
Miaomiao Wang, Abdelhamid Tayebi
This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high…
Hybrid Feedback for Autonomous Navigation in Environments with Arbitrary Convex Obstacles
Mayur Sawant, Soulaimane Berkane, Ilia Polusin +1
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation…
Nonlinear Attitude Estimation Using Intermittent Linear Velocity and Vector Measurements
Miaomiao Wang, Abdelhamid Tayebi
This paper investigates the problem of continuous attitude estimation on using continuous angular velocity and linear acceleration measurements as well as intermittent line…
Nonlinear Estimation for Position-Aided Inertial Navigation Systems
Soulaimane Berkane, Abdelhamid Tayebi
In this work we solve the position-aided 3D navigation problem using a nonlinear estimation scheme. More precisely, we propose a nonlinear observer to estimate the full state of th…
Nonlinear Observers Design for Vision-Aided Inertial Navigation Systems
Miaomiao Wang, Soulaimane Berkane, Abdelhamid Tayebi
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO…
Hybrid Feedback for Global Tracking on Matrix Lie Groups and
Miaomiao Wang, Abdelhamid Tayebi
We introduce a new hybrid control strategy, which is conceptually different from the commonly used synergistic hybrid approaches, to efficiently deal with the problem of the undesi…
Observers Design for Inertial Navigation Systems: A Brief Tutorial
Miaomiao Wang, Abdelhamid Tayebi
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many roboti…
A Nonlinear Navigation Observer Using IMU and Generic Position Information
Soulaimane Berkane, Abdelhamid Tayebi, Simone de Marco
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement…
Nonlinear State Estimation for Inertial Navigation Systems With Intermittent Measurements
Miaomiao Wang, Abdelhamid Tayebi
This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types…
Hybrid Nonlinear Observers for Inertial Navigation Using Landmark Measurements
Miaomiao Wang, Abdelhamid Tayebi
This paper considers the problem of attitude, position and linear velocity estimation for rigid body systems relying on landmark measurements. We propose two hybrid nonlinear obser…
On the Design of Hybrid Pose and Velocity-bias Observers on Lie Group SE(3)
Miaomiao Wang, Abdelhamid Tayebi
This paper deals with the design of globally exponentially stable invariant observers on the Special Euclidian group SE(3). First, we propose a generic hybrid observer scheme (depe…
Attitude and Gyro Bias Estimation Using GPS and IMU Measurements
Soulaimane Berkane, Abdelhamid Tayebi
We propose an attitude and gyro-bias estimation scheme for accelerated rigid body systems using an inertial measurement unit (IMU) and a global positioning system (GPS). The propos…
Cooperative Output Regulation of Linear Multi-agent Systems with Communication Constraints
Abdelkader Abdessameud, Abdelhamid Tayebi
In this paper, we consider the cooperative output regulation problem for heterogeneous linear multi-agent systems in the presence of communication constraints. Under standard assum…
On the Design of Attitude Observers on the Special Orthogonal Group
Soulaimane Berkane, Abdelhamid Tayebi
We revisit the nonlinear complimentary filter on , previously proposed in the literature, and provide the (time-explicit) solution to the matrix ODE governing the attitude e…
On the Design of Globally Exponentially Stable Hybrid Attitude and Gyro-bias Observers
Soulaimane Berkane, Abdelkader Abdessameud, Abdelhamid Tayebi
This paper presents hybrid attitude and gyro-bias observers designed directly on the Special Orthogonal group SO(3). The proposed hybrid observers, enjoying global exponential stab…
Global Exponential Angular Velocity Observer for Rigid Body Systems
Soulaimane Berkane, Abdelkader Abdessameud, Abdelhamid Tayebi
We present a uniformly globally exponentially stable hybrid angular velocity observer for rigid body systems designed directly on . The global exponential…
On Deterministic Attitude Observers on the Special Orthogonal Group SO(3)
Soulaimane Berkane, Abdelhamid Tayebi
We revisit the gradient based nonlinear attitude complementary filters (observers) on the Special Orthogonal group SO(3) and provide explicit solutions of the norm of the attitude…