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About

A. N. Daryina is a researcher specializing in optimal control theory, with a particular focus on time-optimal motion planning for mobile robots under state constraints. Her work addresses the challenging class of problems involving unicycle dynamics, where standard regularity conditions for state constraints often fail. Daryina’s major contribution lies in developing perturbation and regularization approaches that enable the application of Pontryagin’s maximum principle to these essentially non-regular problems. For instance, her most-cited paper (2021, 6 citations) investigates time-optimal control for a simplified mobile robot model, while subsequent works extend this framework to three-wheeled robots with front-wheel drive and bounded state variables. Her 2020 study on perturbation methods for non-regular time-optimal control problems (4 citations) is particularly notable for addressing the practical necessity of handling extremals that violate typical regularity assumptions. Daryina’s numerical solution methods, proposed in her 2022 work (3 citations), offer practical tools for computing fastest motions under realistic constraints. Her research bridges theoretical advances in optimal control with concrete applications in robotics, making her work valuable for engineers and mathematicians tackling constrained motion planning problems.