32 citations · 84 across the 39 of their papers we have counts for
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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,…
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…
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…
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…
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…
Hybrid Feedback for Autonomous Navigation in Environments with Arbitrary Convex Obstacles
Mayur Sawant, Soulaimane Berkane, Ilia Polusin +1
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation…