Fethi
Belkhouche
EEE Department,
California State
University Sacramento,
email belkhouf at ecs.csus.edu.
Corpus Christi, July 2018.
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.
Machine Vision Spring 2020
Homework
assignments 
Lecture notes 
Exams 





















Advanced
Robot Control: EEE 225 Syllabus
Robotics:
EEE 187 Syllabus
EEE 187:
Robotics EEE 225:
Advanced Robot Control: 

Lab Assignments (EEE 187 only) 
Homework assignments and Exams 
Lecture notes 
Due Dates for labs Use the IEEE style template from
the IEEE 













Fall 2019
Introduction
to Microprocessors: EEE 174 Syllabus
Introduction
to Microprocessors 
Previous
Machine vision
Robotics
Statistical signal processing
Introduction to engineering
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.