Fethi
Belkhouche
EEE Department,
California State
University Sacramento,
email belkhouf at ecs.csus.edu.
Education:
BS.
Electrical engineering, option communications, Universite de Tlemcen.
MS. Electrical engineering, Tulane University,
New Orleans, 2004.
PhD. Electrical engineering, Tulane University,
New Orleans, 2005.
Spring 2019
Machine
Vision 

Homework Assignments 
Lecture Summaries 
Reviews and Exams 
Homework 1 
Summary 1 
Exam Due date is
03/07/19 
Introduction
to Engineering 
Assignments Assignment #1 (individual
assignment) 

Digital
Controls 

Lectures 


Summary 1 


Fall 2018
Robotics
EEE 187 

Homework Assignments and Labs 
Lecture Summaries 
Reviews and Exams 
Lab 1 


Senior Design Homework Assignment
Spring 2018
Digital
Controls 

Homework Assignments 
Lecture Summaries 
Reviews and Exams 
Assignment 1 
Machine
Vision 

Homework Assignments 
Lecture Summaries 
Reviews 
Assignment 1 


Take
Home 1 Problem 1: Figure 

Take
Home 2 Problem 1: image 1, image
2 
Statistical
Signal Processing 

Homework Assignments Assignment 1 
Notes Reviews and Exams File for problem 1 
Research
Publications
Conference
publications
1.
Fethi
Belkhouche, Control of autonomous vehicles at an unsignalized intersection,
accepted, the American Control Conference, Seattle, 2017.
2.
Fethi
Belkhouche, An optimal time strategy for collision avoidance between collaborative
agents, accepted, the American Control Conference, Seattle, 2017.
3.
Fethi
Belkhouche, M. Vaziri and S. Vadhva, Modeling and controlling 3D formations and
flocking behavior of unmanned air vehicles, IEEE International Conference on
Information Reuse and Integration, Las Vegas, NV, pp. 449454, 2011.
4.
Fethi
Belkhouche and I. Gokcen, Digital image encoding using hyperchaos, In the
proceedings of the 2009 IEEE International Conference on Systems, Man and
Cybernetics, San Antonio, TX, pp. 13861389, 2009.
5.
Fethi
Belkhouche and T. Jin, An approach for collaborative path planning in
multirobot systems, In the proceedings of the 2009 IEEE International
Conference on Systems, Man and Cybernetics, San Antonio, TX, pp. 24302436,
2009.
6.
J.
Vargas and S. Mendez and Fethi Belkhouche, Tracking under the nonholonomic
constraint using cubic navigation laws, In the proceedings of the 2009 IEEE
International Conference on Systems, Man and Cybernetics, San Antonio, TX, pp.
24302436, 2009.
7.
E.
Chappa, T. Abe, Fethi Belkhouche, R. Goonatilake, Q. Ni, and R. Bachnak,
Integration of assessment and curriculum in engineering, mathematics and
physical science programs, Proceedings of the 2009 Annual Conference of the
American Society for Engineering Education, Austin, TX, June 2009.
8.
K.
Bendjilali, Fethi Belkhouche and T. Jin, Exponential navigation functions with
a learning algorithm, In the proceedings of the American Control Conference,
Seattle, WA, pp. 12321236, 2008.
9.
Fethi
Belkhouche, F. Wu, R. Lin and T. Jin, Multiobserver threepoint tracking law
with networked observers, of the International Conference on Automation,
Robotics and Control, pp. 110115, Orlando, FL, 2008.
10. Fethi Belkhouche, Nonholonomic
robots navigation using linear navigation functions, In the proceedings of the
American Control Conference, pp. 53285330, New York, NY, July 2007.
11. Fethi Belkhouche and K. Bendjilali,
Qlearning of navigation functions, In the proceedings of the 5th International
Conference on Industrial Automation, Montreal, June 2007.
12. Fethi Belkhouche, B. Singh, U.
Qidwai, P. Rastgoufard and B. Belkhouche, On the approximation of the state
equations of nonlinear permanent magnet synchronous motors, In the Proceedings
of IEEE International Symposium on Industrial Electronics, pp. 22922296,
Montreal, July 2006.
13. Fethi Belkhouche, B. Belkhouche and
P. Rastgoufard, Multirobot hunting behavior, In the proceedings of IEEE
International Conferences on Systems, Man and Cybernetics, pp. 2299 2304,
Hawaii, October 2005.
14. Fethi Belkhouche, B. Belkhouche and
P. Rastgoufard, Multirobot rendezvous in the plane, In the proceedings of IEEE
International Conferences on Systems, Man and Cybernetics, pp. 22932298,
Hawaii, October 2005.
15. Fethi Belkhouche and B. Belkhouche,
On the control of a wheeled mobile robot goalkeeper, In the Proceedings of IEEE
International Conference on Robotics, Automation and Mechatronics, pp. 810815,
Singapore, December 2004.
16. Fethi Belkhouche and B. Belkhouche,
On the tracking and interception of a moving object by a wheeled mobile robot,
In the Proceedings of IEEE International Conference on Robotics, Automation and
Mechatronics, pp. 130135, Singapore, December 2004.
17. Fethi Belkhouche and B. Belkhouche,
A control strategy for trackinginterception of moving objects using wheeled mobile
robots, In the Proceedings of IEEE International Conference on Decision and
Control, pp. 21292130, Bahamas, December 2004.
18. Fethi Belkhouche, U. Qidwai, I.
Gokcen and D. Joachim, Binary image transformation using twodimensional
chaotic maps, In the Proceedings of the International Conference on Pattern
Recognition, ICPR 2004, pp.823826, London, August 2004.
19. Fethi Belkhouche, B. Belkhouche and
P. Rastgoufard, A linearized model for the line of sight guidance law, In the
Proceedings of IEEE International Conference on Position, Location and
Navigation, PLANS 2004, pp. 201207, California, April 2004.
20. Fethi Belkhouche, B. Belkhouche and
P. Rastgoufard, A linearized model for the kinematics equations of the pure
pursuit guidance law, AIAA Guidance, Navigation, and Control Conference and
Exhibit, paper number AIAA20044901, Providence, Rhode Island, August 2004.
21. Fethi Belkhouche and B. Belkhouche,
On the control of an escaping robot, In the Proceedings of the 35th International
Symposium on Robotics, Paper # TU34144, Paris, March 2004.
22. Fethi Belkhouche and B. Belkhouche,
Ball interception by a mobile robot goalkeeper using the parallel navigation,
In the Proceedings of the 35th International Symposium on Robotics, Paper #
WE14145, Paris, March 2004.
23. Fethi Belkhouche and S. Muzdeka, A
linearized model for permanent magnet stepper motors, In the Proceedings of the
29th Annual Conference of the IEEE Industrial Electronics Society, pp. 301305,
Roanoke, November 2003.
24. Fethi Belkhouche and U. Qidwai,
Binary image encoding using 1D chaotic maps, In the Proceedings of the IEEE
Region 5 Annual Technical Conference, pp. 3943, New Orleans, April 2003.
25. Fethi Belkhouche and U. Qidwai,
Image encoding using chaotic maps and strange attractors, In the Proceedings of
SPIE/IS&T, Volume 5014. pp 18, Santa Clara, California, January 2003.
Journal
publications
26. Fethi Belkhouche, Modeling and
calculating the collision risk for air vehicles, IEEE Transactions on Vehicular
Technology, Volume 62, Issue 5, pp. 20312041, 2013.
27. Fethi Belkhouche and B. Bendjilali,
Dynamic collision risk modeling under uncertainty, Robotica, Volume 31, Issue
4, pp. 525537, 2013.
28. Fethi Belkhouche; B. Bendjilali,
Reactive path planning for 3D autonomous vehicles, IEEE Transactions on
Control Systems Technology, Volume 20, Issue 1, pp. 249  256, 2012.
29. R. Bachnak, R. Goonatilake, T. Jin
and Fethi Belkhouche, A glimpse of an effective cohort program for
undergraduate students to promote engineering, International Journal of
Engineering Studies, Volume 2, Number 1, pp. 5966, 2010.
30. Fethi Belkhouche, Reactive path
planning in a dynamic environment, IEEE Transactions on Robotics archive Volume
25, Issue 4, pp. 902911, 2009.
31. Fethi Belkhouche and K. Bendjilali,
Collision course by transformation of coordinates and plane decomposition,
Robotica, Volume 27, Issue 4, pp 499509, 2009.
32. K. Bendjilali, Fethi Belkhouche, B.
Belkhouche: Robot formation modeling and control based on the relative
kinematics equations, International Journal of Robotics and Automation, Volume
24, Number 1, 2009.
33. K. Bendjilali and Fethi Belkhouche,
Kinematicsbased navigation functions, Advanced Robotics, Volume 22, Number 11,
pp. 12431264, 2008.
34. Fethi Belkhouche and B. Belkhouche,
Kinematics based characterization of the collision course, International
Journal of Robotics and Automation, Volume 23, Number 2, 2008.
35. Fethi Belkhouche, Autonomous
unmanned air vehicle navigation towards a moving ship, Advanced Robotics,
Volume 22, Numbers 23, pp. 361379, 2008.
36. Fethi Belkhouche and B. Belkhouche,
Wheeled mobile robot navigation using the proportional navigation, Advanced
Robotics, Volume 21, Number 34, pp. 395420, 2007.
37. Fethi Belkhouche, B. Belkhouche and
P. Rastgoufard, Parallel navigation for reaching a moving goal by a mobile
robot, Robotica, Volume 25, pp. 6374, 2007.
38. Fethi Belkhouche, B. Belkhouche and
P. Rastgoufard, Autonomous navigation and obstacle avoidance using navigation
laws with timevarying deviation functions, Advanced Robotics, Volume 21, Number
56, pp. 555581, 2007.
39. Fethi Belkhouche, B. Belkhouche and
P. Rastgoufard, Line of sight robot navigation towards a moving goal, IEEE
Transactions on Systems, Man and Cybernetics, Part B. Volume 36, Number 2, pp.
255267, 2006.
40. Fethi Belkhouche, U. Qidwai and I.
Gokcen, Chaotic graylevel image transformation, Journal of Electronic Imaging.
Volume 14, Number 4, 043001, 2005.
41. Fethi Belkhouche and B. Belkhouche,
A method for robot navigation towards a moving goal with unknown maneuvers,
Robotica, Volume 23, pp. 709720, 2005.
42. Fethi Belkhouche and B. Belkhouche,
Modeling and controlling a robotic convoy using guidance laws strategies, IEEE
Transactions on Systems, Man and Cybernetics, Part B, Volume 35, Number 4, pp.
813825, 2005.
43. Fethi Belkhouche and B. Belkhouche,
A modified parallel navigation for wheeled mobile robots goalkeepers, Advanced
Robotics. Volume 20, Number 4, pp. 429452, 2006.
44. Fethi Belkhouche, Trajectorybased
optimal linearization for nonlinear autonomous vector fields, IEEE Transactions
on Circuits and Systems I: Fundamental Theory and Applications, Volume 52,
Number 1, pp. 127138, 2005.
45. Fethi Belkhouche, A Family of
linearizations of autonomous ordinary differential equations with scalar
nonlinearity, Journal of Nonlinear Mathematical Physics, Volume 11, Number 3,
pp. 276288, 2005.
46. Fethi Belkhouche, An L2 norm
trajectorybased local linearization for low order systems, Journal of
Nonlinear Mathematical Physics, Volume 12, Number 1, pp. 5372, 2005.
47. Fethi Belkhouche and B. Belkhouche,
Successive linearizations of second order Multidimensional timeinvariant
systems, Computer Physics Communications, Volume 162, Number 2, pp. 7988,
2004.
Book chapters
48. Fethi Belkhouche and B. Belkhouche,
A pursuitrendezvous approach for robotic tracking, In Mobile robots:
Perception and Navigation. Pro Literatur Verlag, Germany / ARS, Austria, pp.
460 478, 2007.
49. K. Bendjilali, Fethi Belkhouche and
T. Jin, Characterizing the exact collision course in the plane for mobile
robotics applications, in Novel Algorithms and Techniques In
Telecommunications, Automation and Industrial Electronics, Springer Netherlands
pp. 8388, 2008.