Mahmoud Abdelgalil

University of California, Irvine | UCI · Department of Mechanical and Aerospace Engineering

In recent years, an approach to extremum seeking control made it possible to design control vector fields that lead to asymptotic stability of the minimum point provided that the minimum value of the function is known a priori. In this work we aim to relax that assumption. We propose an extremum seeking control law that converges to the minimum poi...

We analyze a class of high-frequency, high-amplitude oscillatory systems in which periodicity occurs on two distinct time scales and establish the convergence of its trajectories to a suitably averaged system by recursively applying higher-order averaging. Moreover, we introduce a novel bio-inspired 3D source seeking algorithm for rigid bodies equi...

Sperm cells perform extremely demanding tasks with minimal capabilities. The cells must quickly navigate in a noisy environment to find an egg within a short time window for successful fertilization without any global positioning information. Many research efforts have been dedicated to derive mathematical principles that explain their superb navig...

We propose a novel 3D source seeking algorithm for rigid bodies with a non-collocated sensor inspired by the chemotactic navigation strategy of sea urchin sperm known as helical klinotaxis. We work directly with the rotation group $\text{SO}(3)$ without parameterization in representing the attitude of a rigid body. As a consequence, the proposed al...

Sperm cells perform extremely demanding tasks with minimal capabilities. The cells must quickly navigate in a noisy environment to find an egg within a short time window for successful fertilization without any global positioning information. Many research efforts have been dedicated to derive mathematical principles that explain their superb navig...

The motion planning problem (MPP) is the problem of finding a control input that steers a control system between two arbitrarily given points. Several algorithms have been developed for the motion planning of nonlinear driftless systems over the 1990's using \textit{differential geometric control} tools. However, little is known about MPP of nonlin...

This paper describes a framework for machine cooperation and interaction designed to promote collaborative work with humans in a natural and flexible manner. More specifically, we propose a system where all the interactions with the robots are achieved through voice using Alexa Voice Service (AVS). Besides the implementation of a voice interface ch...

In recent years, multi-robot systems (MRS) have received attention from researchers in academia, government laboratories and industry. This research activity has borne fruit in tackling some of the challenging problems that are still open. One is multi-robot simultaneous localization and mapping (MR-SLAM). This paper provides an overview of the lat...

In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We demonstrate the effectiveness of the simulator and its accuracy in long term integration of mechanical systems without...