Elena V. Degtiariova-Kostova
Papers
2
Total Citations
27
H-Index
2
About
Elena V. Degtiariova-Kostova is a pioneer in the mathematical theory of nonholonomic motion planning, with a particular focus on the control of car-like robots. Her research centers on the geometry of optimal trajectories under realistic kinematic constraints, specifically addressing the challenge of bounded curvature derivatives—a critical factor for smooth, physically feasible robot motion. Her 1998 paper, "Irregularity of Optimal Trajectories in a Control Problem for a Car-like Robot," is a landmark study that rigorously characterizes the structure of shortest paths when the derivative of curvature is bounded, revealing the irregular, non-\(C^3\) nature of optimal solutions. This work, alongside her 1993 paper on suboptimal paths, has laid the theoretical groundwork for trajectory planning in autonomous vehicles and mobile robotics. With her papers accruing over a dozen citations each, her contributions are foundational for researchers working on motion planning with jerk or acceleration constraints. Degtiariova-Kostova’s elegant geometric approach continues to influence modern control theory and robotics, making her a key figure in the evolution of optimal path synthesis.
Research Focus
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Top Papers
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