S. Berkane

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…

Scalar-Measurement Attitude Estimation on $SO (3)$ 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…

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…

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…

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…