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.
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.