P. Muraca

About

P. Muraca is an accomplished researcher whose work centers on mobile robotics, state estimation, and autonomous navigation. With a career spanning several decades, Muraca has made significant contributions to the field of robot localization and Simultaneous Localization and Mapping (SLAM), establishing a strong reputation for rigorous algorithmic development validated through real-world experimentation. Muraca's most influential work, "Mobile robot localization via EKF and UKF: A comparison based on real data" (2015, 74 citations), offers a landmark empirical comparison of two foundational filtering techniques — the Extended Kalman Filter (EKF) and the Unscented Kalman Filter (UKF) — that has become an essential reference for robotics researchers. This comparative approach characterizes much of Muraca's methodology, with multiple studies benchmarking these filters across diverse sensor configurations, including ultrasonic and wireless systems. His SLAM contributions are particularly noteworthy, encompassing innovative segment-based and polynomial-based environment mapping algorithms that function without prior knowledge of the robot's workspace. Early work on variable-structure regulators and fuzzy tactile classifiers (1997) reflects a broader intellectual versatility. Collectively, Muraca's publications have accumulated over 150 citations, underscoring their lasting relevance to researchers tackling autonomous indoor navigation challenges.

Research Focus

Key Achievements

Top Papers

1. 1
   Mobile robot localization via EKF and UKF: A comparison based on real data

   74 citations · 2015
2. 2
   A SLAM algorithm for indoor mobile robot localization using an Extended Kalman filter and a segment based environment mapping

   26 citations · 2013
3. 3
   Extended and Unscented Kalman Filters for mobile robot localization and environment reconstruction

   14 citations · 2013
4. 4
   An Extended Kalman Filter for the state estimation of a mobile robot from intermittent measurements

   13 citations · 2008
5. 5
   A polynomial based SLAM algorithm for mobile robots using ultrasonic sensors - Experimental results

   12 citations · 2013
6. 6
   Filters for mobile robots: EKF, UKF and sensor switching - experimental results

   4 citations · 2011
7. 7
   A Variable-structure Regulator for Robotic Systems**This paper was recommended for publication in revised form by Editor Peter Dorato.

   4 citations · 1997
8. 8
   A new polynomial based SLAM algorithm for a mobile robot in an unknown indoor environment

   3 citations · 2014
9. 9
   A Fuzzy Classifier for Tactile Sensing

   3 citations · 1997
10. 10
    Mobile robot localization in an unknown environment using sonar sensors and an incidence angle based sensors switching policy — Experimental results

    3 citations · 2013

Key Collaborators

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