32 citations · 84 across the 39 of their papers we have counts for
4 papers · 1 filter
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…
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…