36 citations · 144 across the 26 of their papers we have counts for
10 papers · 1 filter
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…
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…
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…
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…