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N. Rahmanian-Shahri is a robotics researcher whose work has made meaningful contributions to the field of motion planning and control for redundant articulated robotic systems. Operating primarily in the mid-1990s, their research focused on developing practical, computationally efficient solutions to one of robotics' most critical challenges: real-time collision avoidance. Their most cited work, "Collision-avoidance control for redundant articulated robots" (1995, 23 citations), introduced a novel mathematical formulation that dramatically reduced the computational overhead of online collision recognition by relying solely on joint positions in the workspace. This innovation made real-time obstacle detection significantly more tractable for complex manipulators. Building on this foundation, their 1996 publications extended these ideas by leveraging the inherent self-motion capabilities of redundant robots — the extra degrees of freedom that allow such systems to reconfigure themselves without altering end-effector position — as a mechanism for avoiding collisions with link segments. Together, these three papers, accumulating approximately 50 citations, established a coherent and practically oriented body of work that helped advance the field of safe, efficient robotic manipulation in dynamic environments.