Publications

Journal Articles

  1. I. Cheniouni, A. Tayebi and S. Berkane. Safe and Quasi-Optimal Autonomous Navigation in Environments with Convex Obstacles. conditionally accepted to to IEEE Transactions on Automatic Control, 2024.
  2. S. Berkane, D. Theodosis, T. Hamel, D. V. Dimarogonas. State Estimation for Linear Systems With Quadratic Outputs. to appear in IEEE Control Systems Letters, 2024. [arXiv]. Paper presented also at the ACC’23 conference.
  3. M. Sawant, S. Berkane, I. Polushin and A. Tayebi. Hybrid Feedback for Autonomous Navigation in Environments with Arbitrary Convex Obstacles. IEEE Transactions on Automatic Control, Vol. 68, No. 12, pp. 7342-7357, 2023. [arXiv] [Video 1] [Video 2]
  4. S. Berkane, I. Harizi, A. Tayebi, M. S. Silverman and S. Stranges. Should We Delay the Second COVID-19 Vaccine Dose in Order to Optimize Rollout? A Mathematical Perspective. International Journal of Public Health, 2022.
  5. M. Wang, S. Berkane and A. Tayebi. Nonlinear Observers Design for Vision-Aided Inertial Navigation Systems. IEEE Transactions on Automatic Control, Vol. 67, No. 4, pp. 1853-1868, 2022. [arXiv] [Video]
  6. S. Berkane, A. Bisoffi and D. V. Dimarogonas. Obstacle Avoidance via Hybrid Feedback. IEEE Transactions on Automatic Control, Vol. 67, No. 1, pp. 512-519, 2022. [arXiv] [Video 1] [Video 2].
  7. S. Berkane, A. Tayebi, and S. De Marco. A Nonlinear Navigation Observer Using IMU and Generic Position Information. Automatica, Vol. 127, 2021 (arXiv).
  8. S. Berkane and D. V. Dimarogonas. Constrained Stabilization on the n-Sphere. Automatica, Vol. 125, 2021. [arXiv][Video]
  9. X. Tan, S. Berkane and D. V. Dimarogonas, Constrained Attitude Maneuvers on SO(3): Rotation Space Sampling, Planning and Low-Level Control. Automatica, Vol. 112, 2020.
  10. S. Berkane and A. Tayebi. Attitude Estimation With Intermittent Measurements. Automatica, Vol. 105, pp. 415-421, 2019.
  11. S. Berkane, A. Abdessameud, and A. Tayebi. Hybrid Output Feedback For Attitude Tracking on SO(3). IEEE Transactions on Automatic Control, Vol. 63, No. 11, pp. 3956-3963, 2018.
  12. S. Berkane and A. Tayebi. On the Design of Attitude Complementary Filters on SO(3). IEEE Transactions on Automatic Control, Vol. 63, No. 3, pp. 880 – 887 , 2018 (arXiv).
  13. S. Berkane, A. Abdessameud, and A. Tayebi. Hybrid Attitude and Gyro-bias Observer Design on SO(3). IEEE Transactions on Automatic Control, Vol. 62, No. 11, pp. 6044 – 6050 , 2017. [Video]
  14. S. Berkane, A. Abdessameud, and A. Tayebi. Hybrid Global Exponential Stabilization on SO(3). Automatica, Vol. 80, pp. 279-285, 2017.
  15. S. Berkane and A. Tayebi. Construction of Synergistic Potential Functions on SO(3) with Application to Velocity-Free Hybrid Attitude Stabilization. IEEE Transactions on Automatic Control, Vol. 62, No. 1, pp. 495-501, 2017 (arXiv).

Conference Papers

  1. S. Benahmed and S. Berkane, State Estimation Using Single Body-Frame Bearing Measurements, European Control Conference (ECC), Stockholm, Sweden, 2024.
  2. L. Smaili and S. Berkane, Real-Time Sensor-Based Feedback Control for Obstacle Avoidance in Unknown Environments, American Control Conference (ACC), Toronto, Canada, 2024.
  3. I. Cheniouni, A. Tayebi and S. Berkane, Hybrid Feedback Control for Global and Optimal Safe Navigation, American Control Conference (ACC), Toronto, Canada, 2024.
  4. S. Berkane and D. V. Dimarogonas. Reciprocal Safety Velocity Cones for Decentralized Collision Avoidance in Multi-Agent Systems. IFAC Papers-OnLine, Volume 56, Issue 2, 2023, Pages 8024-8029. Presented at the IFAC World Congress, 2023.
  5. O. Sifour, S. Berkane and A. Tayebi. Modeling of Four-Winged Micro Ornithopters Inspired by Dragonflies. IFAC Papers-OnLine, Volume 56, Issue 2, 2023, Pages 10752-10759. Presented at the IFAC World Congress, 2023. [ArXiv]
  6. Z. Belkhatir, S. Berkane, L. Norton, A. Tannenbaum. Nonlinear Impulsive Control Design for Biologically Grounded NSM Tumor Growth Model Using Exact Linearized Mapping. IFAC Papers-OnLine, Volume 56, Issue 2, 2023, Pages 7228-7233. Presented at the IFAC World Congress, 2023.
  7. I. Cheniouni, A. Tayebi and S. Berkane. Safe and Quasi-Optimal Autonomous Navigation in Sphere Worlds. American Control Conference (ACC), San Diego, CA, USA, pp. 2678-2683, 2023. [ArXiv]
  8. S. Berkane and A. Tayebi. Nonlinear Estimation for Position-Aided Inertial Navigation Systems. In 60th IEEE Conference on Decision and Control, Austin, Texas, USA. December 13-15, pp. 6156-6160, 2021. [arXiv] [Video]
  9. S. Berkane. Navigation in Unknown Environments Using Safety Velocity Cones. In American Control Conference, pp. 2336-2341, 2021. [arXiv] [Video]
  10. D. Theodosis, S. Berkane and D. V. Dimarogonas, State Estimation for a Class of Linear Systems with Quadratic Output. The 24th International Symposium on Mathematical Theory of Networks and Systems, Cambridge, UK, pp. 261-266, 2021 [arXiv].
  11. X. Tan, S. Berkane and D. V. Dimarogonas, Smooth Feedback Construction Over Spherical Polytopes. European Control Conference,  Saint Petersburg,  Russian Federation, pp. 1198-1203, 2020 (Preprint). 
  12. S. Berkane, A. Bisoffi and D. V. Dimarogonas. A Hybrid Controller for Obstacle Avoidance in an n-dimensional Euclidean Space. In Proc. of the 18th European Control Conference (ECC),  Napoli, Italy,  pp. 764-769, 2019 (arXiv).
  13. S. Berkane and A. Tayebi. Position, Velocity, Attitude and Gyro-Bias Estimation from IMU and Position Information. In Proc. of the 18th European Control Conference (ECC),  Napoli, Italy,  pp. 4028–4033, 2019.
  14. S. Berkane, A. Tayebi and A. R. Teel. Hybrid Constrained Estimation For Linear Time-Varying Systems. In Proc. of the 57th IEEE Conference on Decision and Control (CDC), Miami Beach, FL, USA, pp. 4643 – 4648, 2018. [Video]
  15. S. Berkane and A. Tayebi. Attitude Observer Using Synchronous Intermittent Vector Measurements. In Proc. of the 56th IEEE Conference on Decision and Control (CDC), Melbourne, Australia, pp. 3027 – 3032,  2017.
  16. S. Berkane and A. Tayebi. Attitude and Gyro Bias Estimation Using GPS and IMU Measurements. In Proc. of the 56th IEEE Conference on Decision and Control (CDC), Melbourne, Australia, pp. 2402 – 2407, 2017.
  17. S. Berkane and A. Tayebi. On Deterministic Attitude Observers on the Special Orthogonal Group SO(3). In Proc. of the 55th IEEE Conference on Decision and Control (CDC), Las Vegas, NV, USA, pp. 1165-1170, 2016. 
  18. S. Berkane, A. Abdessameud and A. Tayebi. Global exponential angular velocity observer for rigid body systems. In Proc. of the 55th IEEE Conference on Decision and Control (CDC), Las Vegas, NV, USA, pp. 4154-4159, 2016. 
  19. S. Berkane, A. Abdessameud and A. Tayebi. A globally exponentially stable hybrid attitude and gyro-bias observer. In Proc. of the 55th IEEE Conference on Decision and Control (CDC), Las Vegas, NV, USA, pp. 308-313, 2016. 
  20. S. Berkane, A. Abdessameud, and A. Tayebi. Global hybrid attitude estimation on the Special Orthogonal Group SO(3). In Proc. of the 2016 American Control Conference (ACC), Boston, MA, USA,pp. 113-118, 2016. Best Student Paper Award Finalist. 
  21. S. Berkane and A. Tayebi. Velocity-Free Hybrid Attitude Stabilization Using Inertial Vector Measurements. In Proc. of the 2016 American Control Conference (ACC), Boston, MA, USA, pp. 6048-6053. 2016. 
  22. S. Berkane and A. Tayebi. On the Design of Synergistic Potential Functions on SO(3). In Proc. of the 54th IEEE Conference on Decision and Control (CDC), Osaka, Japan, pp. 270-275, 2015. 
  23. S. Berkane and A. Tayebi. Some Optimization Aspects on the Lie Group SO(3). In Proc. of the 15th IFAC symposium on Information Control Problems in Manufacturing, Ottawa, Canada, pp. 1173-1177, 2015.

Dissertations

  1. S. Berkane. Hybrid Attitude Control and Estimation On SO(3) . PhD thesis, University of Western Ontario,  Canada, 2017.
  2. S. Berkane, “Structural Approach to Fault Diagnosis and Sensor Location”, Master Thesis (in French), 2013.
  3. S. Berkane, “Design of a Diagnostic System Using Structural Approaches – Application to the biological process of sewage treatment”, Engineer Diploma (in French), 2013.