8 citations · 23 across the 9 of their papers we have counts for
9 papers
Observer Design for Optical Flow-Based Visual-Inertial Odometry with Almost-Global Convergence
Tarek Bouazza, Soulaimane Berkane, Minh-Duc Hua +1
This paper presents a novel cascaded observer architecture that combines optical flow and IMU measurements to perform continuous monocular visual-inertial odometry (VIO). The propo…
Correction to:"Position estimation from direction or range measurements"
Tarek Hamel, Minh-Duc Hua, Claude Samson
This technical communiqué aims at correcting an erroneous statement (Lemma 2.4) in an earlier paper by the same authors concerning a sufficient condition of uniform observability f…
Riccati observers for velocity-aided attitude estimation of accelerated vehicles using coupled velocity measurements
Minh-Duc Hua, Tarek Hamel, Claude Samson
Motivated by drone autonomous navigation applications we address a novel problem of velocity-aided attitude estimation by combining two linear velocity components measured in a bod…
A global exponential observer for velocity-aided attitude estimation
Philippe Martin, Ioannis Sarras, Minh-Duc Hua +1
We propose a simple nonlinear observer for estimating the attitude and velocity of a rigid body from the measurements of specific acceleration, angular velocity, magnetic field (in…
Feature-based Recursive Observer Design for Homography Estimation
Minh-Duc Hua, Jochen Trumpf, Tarek Hamel +2
This paper presents a new algorithm for online estimation of a sequence of homographies applicable to image sequences obtained from robotic vehicles equipped with vision sensors. T…
Gradient-like observer design on the Special Euclidean group SE(3) with system outputs on the real projective space
Minh-Duc Hua, Tarek Hamel, Robert Mahony +1
A nonlinear observer on the Special Euclidean group for full pose estimation, that takes the system outputs on the real projective space directly as inputs, is pro…
Velocity-aided Attitude Estimation for Accelerated Rigid Bodies
Minh-Duc Hua, Philippe Martin, Tarek Hamel
Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. A…
A robust trajectory tracking controller for four-wheel skid-steering mobile robots
Jae-Yun Jun, Minh-Duc Hua, Faïz Benamar
A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapu…
Control of VTOL Vehicles with Thrust-direction Tilting
Minh-Duc Hua, Tarek Hamel, Claude Samson
An approach to the control of a VTOL vehicle equipped with complementary thrust-direction tilting capabilities that nominally yield full actuation of the vehicle's position and att…