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About

Soumya Sahoo is a robotics and control systems researcher whose work centers on the dynamic modeling and nonlinear control of mobile robotic platforms. With a particular expertise in bond graph modeling and flatness-based control theory, Sahoo has made meaningful contributions to the design and simulation of omnidirectional and skid-steered mobile robots — systems known for their mechanical complexity and multi-domain physical interactions. Sahoo's most influential work, "Intuitive Dynamic Modeling and Flatness-Based Nonlinear Control of a Mobile Robot" (2017, 23 citations), introduced a bond graph-based framework using MATLAB's BG_V21 toolbox to derive dynamic models of four Mecanum-wheeled robots, subsequently applying flatness-based control laws for precise trajectory tracking. This integrated approach bridged theoretical modeling with practical control design in an elegant way. Subsequent research extended these ideas to hardware-in-the-loop (HIL) simulation environments, demonstrating real-time applicability and robust trajectory tracking for omnidirectional platforms across multiple configurations, including three-wheeled and four-wheeled designs. Collectively accumulating nearly 50 citations, Sahoo's body of work offers students and engineers accessible yet rigorous methodologies for tackling the inherent challenges of mobile robot dynamics, making it a valuable reference for those working at the intersection of mechatronics, control theory, and autonomous systems.