Zobrazeno 1 - 10
of 99
pro vyhledávání: '"Berkane, Soulaimane"'
This paper addresses the problem of accurate pose estimation (position, velocity, and orientation) for a rigid body. By utilizing generic exteroceptive measurements in combination with an Inertial Measurement Unit (IMU), we reformulate the vehicle's
Externí odkaz:
http://arxiv.org/abs/2410.03846
This paper introduces DAF (Dissipative Avoidance Feedback), a novel approach for autonomous robot navigation in unknown, obstacle-filled environments with second-order dynamics. Unlike traditional APF (Artificial Potential Field) methods, which rely
Externí odkaz:
http://arxiv.org/abs/2410.02903
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 Riccati observer-based estimator that fuses measurements from a 3-axis acce
Externí odkaz:
http://arxiv.org/abs/2403.12633
Autor:
Smaili, Lyes, Berkane, Soulaimane
We revisit the Safety Velocity Cones (SVCs) obstacle avoidance approach for real-time autonomous navigation in an unknown $n$-dimensional environment. We propose a locally Lipschitz continuous implementation of the SVC controller using the distance-t
Externí odkaz:
http://arxiv.org/abs/2403.08614
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 with a single spherical obstacle. The robot moves straight to the targ
Externí odkaz:
http://arxiv.org/abs/2402.17038
This letter deals with the problem of state estimation for a class of systems involving linear dynamics with multiple quadratic output measurements. We propose a systematic approach to immerse the original system into a linear time-varying (LTV) syst
Externí odkaz:
http://arxiv.org/abs/2312.10684
We propose a continuous feedback control strategy that steers a point-mass vehicle safely to a destination, in a quasi-optimal manner, in sphere worlds. The main idea consists in avoiding each obstacle via the shortest path on the cone's surface encl
Externí odkaz:
http://arxiv.org/abs/2308.13425
We propose a continuous feedback control strategy that steers a point-mass vehicle safely to a desired destination, in a quasi-optimal manner, from almost all initial conditions in an n-dimensional Euclidean space cluttered with spherical obstacles.
Externí odkaz:
http://arxiv.org/abs/2302.12309
In this paper, we present a full dynamical model of a four-winged micro ornithopter inspired by a dragonfly-type insect. The micro ornithopter is modeled as four articulated rigid body components (wings) connected to the main body via spherical joint
Externí odkaz:
http://arxiv.org/abs/2301.03187
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global asymptotic s
Externí odkaz:
http://arxiv.org/abs/2111.09380