A.N. Atassi

University of Lisbon, Laboratoire d'Informatique et d'Automatique pour les Systèmes

Papers

Total Citations

H-Index

About

A.N. Atassi is a leading figure in mobile robotics, whose work masterfully bridges the gap between theoretical control and practical autonomy. His primary research areas are nonholonomic system control and sensor-based path planning, where he has made foundational contributions to how robots navigate uncertain environments. Atassi’s most influential work, "Regulation of a nonholonomic dynamic wheeled mobile robot with parametric modeling uncertainty using Lyapunov functions" (2002, 40 citations), tackles the classic "parking problem" for unicycle-type robots. He derived a simple yet powerful Lyapunov-based controller that guarantees global convergence to a desired pose, even when the robot’s physical parameters are unknown—a critical advance for real-world deployment. This work remains a cornerstone for researchers dealing with wheeled robot stabilization. In a complementary vein, his 2000 paper on "Sensor information space for robust mobile robot path planning" (3 citations) pioneered a paradigm shift: planning paths directly from perceptual data, thereby eliminating the drift and error accumulation inherent in odometry-based systems. This sensor-centric approach has proven prescient, anticipating modern SLAM and reactive navigation strategies. Atassi’s contributions have provided essential tools for robust, uncertainty-tolerant robot control, cementing his influence in the field.