4 papers
Hybrid Feedback Control for Global and Optimal Safe Navigation
Ishak Cheniouni, Soulaimane Berkane, Abdelhamid Tayebi
We propose a hybrid feedback control strategy that safely steers a point-mass robot to a target location optimally from all initial conditions in the n-dimensional Euclidean space…
State Estimation Using Single Body-Frame Bearing Measurements
Sifeddine Benahmed, Soulaimane Berkane
This paper addresses the problem of simultaneous estimation of the position, linear velocity and orientation of a rigid body using single bearing measurements. We introduce a Ricca…
Real-Time Sensor-Based Feedback Control for Obstacle Avoidance in Unknown Environments
Lyes Smaili, Soulaimane Berkane
We revisit the Safety Velocity Cones (SVCs) obstacle avoidance approach for real-time autonomous navigation in an unknown -dimensional environment. We propose a locally Lipschit…
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…