Mohamed W. Mehrez

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This paper presents a novel approach for a multi-robot system's relative localization (RL), where one or more robots are located and tracked with respect to another robot frame of reference. With a known initial estimate of a robot being tracked, the extended Kalman filter (EKF) has been shown to perform adequately well to achieve the RL. However, with an(More)
This paper compares two approaches of multi-robots' formation stabilization using nonlinear model predictive control (NMPC), namely, centralized and distributed predictive controls. Centralized NMPC has been highlighted in the literature to lead superior performance; however, it has been remarked with high computational power requirements which limit its(More)
The problem of steering a nonholonomic mobile robot to a desired position and orientation is considered. In this paper, a model predictive control (MPC) scheme based on tailored nonquadratic stage cost is proposed to fulfill this control task. We rigorously prove asymptotic stability while neither stabilizing constraints nor costs are used. To this end, we(More)
In this paper, a recently developed open-source toolkit implementing fast nonlinear model predictive control (NMPC) routines has been utilized to achieve the two main control objectives of nonholonomic mobile robots, namely, point stabilization and trajectory tracking. The stability of the controller has been guaranteed by adding final state equality(More)
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