32 citations · 84 across the 39 of their papers we have counts for
47 papers
Attitude Estimation Using Inertial and Barometric Measurements
Melone Nyoba Tchonkeu, Soulaimane Berkane, Tarek Hamel
Accurate and robust attitude estimation is a key challenge for autonomous vehicles, particularly in GNSS-denied conditions and during highly accelerated flight. In such conditions,…
Relative Pose-Velocity Estimation Using Dual IMU Measurements and Relative Position Sensing
Alessandro Melis, Tarek Bouazza, Soulaimane Berkane +1
This paper addresses the problem of estimating the relative pose (position and orientation) and velocity of a vehicle with respect to a moving target, where both are equipped with…
Complementary Filtering on SO(3) for Attitude Estimation with Scalar Measurements
Alessandro Melis, Soulaimane Berkane, Tarek Hamel +1
This paper proposes a complementary filter on SO(3) for attitude estimation from scalar measurements corresponding to projections of known inertial vectors onto body-frame sensing…
Tutorial on Aided Inertial Navigation Systems: A Modern Treatment Using Lie-Group Theoretical Methods
Soulaimane Berkane
Robots and autonomous vehicles rely on accurate estimates of their position, velocity, and orientation. Inertial sensors measure motion at high rates, but errors accumulate as thes…
Scalar-Measurement Attitude Estimation on with Bias Compensation
Alessandro Melis, Tarek Bouazza, Hassan Alnahhal +3
Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can…
Pitot-Aided Attitude and Air Velocity Estimation with Almost Global Asymptotic Stability Guarantees
Melone Nyoba Tchonkeu, Soulaimane Berkane, Tarek Hamel
This paper investigates the problem of attitude and air velocity estimation for fixed-wing unmanned aerial vehicles (UAVs) using IMU measurements and at least one Pitot tube measur…
Nonlinear Observer Design for Visual-Inertial Odometry
Mouaad Boughellaba, Abdelhamid Tayebi, James R. Forbes +1
This paper addresses the problem of Visual-Inertial Odometry (VIO) for rigid body systems evolving in three-dimensional space. We introduce a novel matrix Lie group structure, deno…
Perception-Limited Smooth Safety Filtering
Lyes Smaili, Soulaimane Berkane
This paper develops a smooth safety-filtering framework for nonlinear control-affine systems under limited perception. Classical Control Barrier Function (CBF) filters assume globa…
Cascaded Tightly-Coupled Observer Design for Single-Range-Aided Inertial Navigation
Oussama Sifour, Soulaimane Berkane, Abdelhamid Tayebi
This work introduces a single-range-aided navigation observer that reconstructs the full state of a rigid body using only an Inertial Measurement Unit (IMU), a body-frame vector me…
A Nonlinear Observer for Air-Velocity and Attitude Estimation Using Pitot and Barometric Measurements
Melone Nyoba Tchonkeu, Soulaimane Berkane, Tarek Hamel
This paper addresses the problem of estimating air velocity and full attitude for unmanned aerial vehicles (UAVs) in GNSS-denied environments using minimal onboard sensing-an inter…
Vision-Aided Relative State Estimation for Approach and Landing on a Moving Platform with Inertial Measurements
Tarek Bouazza, Alessandro Melis, Soulaimane Berkane +2
This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and…
A Smooth Penalty-Based Feedback Law for Reactive Obstacle Avoidance with Convergence Guarantees
Lyes Smaili, Soulaimane Berkane
This paper addresses the problem of safe autonomous navigation in unknown obstacle-filled environments using only local sensory information. We propose a smooth feedback controller…
Barometer-Aided Attitude Estimation
Méloné Nyoba Tchonkeu, Soulaimane Berkane, Tarek Hamel
Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement…
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…
Attitude Estimation Using Scalar Measurements
Hassan Alnahhal, Sifeddine Benahmed, Soulaimane Berkane +1
This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the prop…
Nonlinear Observer Design for Landmark-Inertial Simultaneous Localization and Mapping
Mouaad Boughellaba, Soulaimane Berkane, Abdelhamid Tayebi
This paper addresses the problem of Simultaneous Localization and Mapping (SLAM) for rigid body systems in three-dimensional space. We introduce a new matrix Lie group SE_{3+n}(3),…
A Geometric Approach For Pose and Velocity Estimation Using IMU and Inertial/Body-Frame Measurements
Sifeddine Benahmed, Soulaimane Berkane, Tarek Hamel
This paper addresses accurate pose estimation (position, velocity, and orientation) for a rigid body using a combination of generic inertial-frame and/or body-frame measurements al…
Attitude Synchronization on SO(3) for Heterogeneous Multi-Agent Systems Using Vector Measurements
Mouaad Boughellaba, Soulaimane Berkane, Abdelhamid Tayebi
This paper addresses the distributed attitude synchronization problem for a network of rigid-body systems on the special orthogonal group SO(3). Each agent measures, in its body fr…
Global Attitude Synchronization for Heterogeneous Multi-agent Systems on SO(3)
Mouaad Boughellaba, Soulaimane Berkane, Abdelhamid Tayebi
In this paper, we address the problem of attitude synchronization for a group of rigid body systems evolving on SO(3). The interaction among these systems is modeled through an und…
Hybrid Feedback Control for Global Navigation with Locally Optimal Obstacle Avoidance in n-Dimensional Spaces
Ishak Cheniouni, Soulaimane Berkane, Abdelhamid Tayebi
We present a hybrid feedback control framework for autonomous robot navigation in n-dimensional Euclidean spaces cluttered with spherical obstacles. The proposed approach ensures s…
A General Nonlinear Observer Design for Inertial Navigation Systems with Almost Global Stability Guarantees
Sifeddine Benahmed, Tarek Hamel, Soulaimane Berkane
This paper studies nonlinear observer design for rigid-body extended pose estimation using inertial measurements and generic exteroceptive sensing. The estimation problem is formul…
Dissipative Avoidance Feedback for Reactive Navigation Under Second-Order Dynamics
Lyes Smaili, Zhiqi Tang, Soulaimane Berkane +1
This paper addresses the problem of autonomous robot navigation in unknown, obstacle-filled environments with second-order dynamics by proposing a Dissipative Avoidance Feedback (D…
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…