36 citations · 144 across the 26 of their papers we have counts for
7 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…
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…