Alan Whitman

Papers

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About

Alan Whitman’s research focuses on the dynamics and control of mobile robots, with a particular emphasis on wheel-terrain interaction and open-loop trajectory planning. His major contributions lie in developing asymptotic methods to solve nonlinear equations of motion, enabling precise predictions of robot behavior without relying on complex sensors. In his most-cited work, “Asymptotic Solution and Trajectory Planning for Open-Loop Control of Mobile Robots” (2016, 6 citations), he introduced a novel control framework that quantifies wheel sliding using a small nondimensional parameter, allowing for stable, slip-free path planning. His follow-up paper, “Prediction of Wheel Slipping Limits for Mobile Robots” (2018, 4 citations), further advanced this approach by accurately forecasting the speed thresholds at which robots can operate without losing traction—validated on platforms like the iRobot. Though his citation counts are modest, Whitman’s work is notable for its mathematical rigor and practical relevance to autonomous navigation in challenging terrains. His asymptotic techniques offer a computationally efficient alternative to traditional feedback control, making his research valuable for students and engineers designing robust, low-cost robotic systems.