2 citations · 2 across the 2 of their papers we have counts for
9 papers
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…
Obstacle Avoidance via Hybrid Feedback
Soulaimane Berkane, Andrea Bisoffi, Dimos V. Dimarogonas
In this paper we present a hybrid feedback approach to solve the navigation problem of a point mass in the n-dimensional space containing an arbitrary number of ellipsoidal shape o…
Nonlinear Observers Design for Vision-Aided Inertial Navigation Systems
Miaomiao Wang, Soulaimane Berkane, Abdelhamid Tayebi
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO…
State Estimation for a Class of Linear Systems with Quadratic Output
Dionysis Theodosis, Soulaimane Berkane, Dimos V. Dimarogonas
This paper deals with the problem of state estimation for a class of linear time-invariant systems with quadratic output measurements. An immersion-type approach is presented that…
Navigation in Unknown Environments Using Safety Velocity Cones
Soulaimane Berkane
We rely on Nagumo's invariance theorem to develop a new approach for navigation in unknown environments of arbitrary dimension. The idea consists in projecting the nominal velociti…
A Nonlinear Navigation Observer Using IMU and Generic Position Information
Soulaimane Berkane, Abdelhamid Tayebi, Simone de Marco
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement…