2 citations · 2 across the 2 of their papers we have counts for
8 papers · 1 filter
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…
Constrained Stabilization on the n-Sphere
Soulaimane Berkane, Dimos V. Dimarogonas
We solve the stabilization problem on the sphere in the presence of conic constraints. We use the stereographic projection to map this problem to the classical navigation probl…