A.A. Holenstein

École Polytechnique Fédérale de Lausanne

Papers

Total Citations

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About

A.A. Holenstein’s research centers on autonomous mobile robotics, with a specific focus on collision avoidance, behavior-based control architectures, and localization in cluttered environments. Holenstein’s major contributions include the development of a recursive nested control structure for mobile robots, where collision avoidance is achieved through a repulsion force derived from ultrasonic range and tactile sensor data. This approach adapts dynamically to the robot’s motion, enabling safer navigation in real-world settings. Additionally, Holenstein co-authored a method for mobile robot localization in structured environments that remain effective even when cluttered with unknown obstacles—a significant challenge in robotics. This method relies on ultrasonic range readings to build an environmental model, achieving near-independence from obstacle density. Holenstein’s work has garnered notable attention, with the two most-cited papers accumulating 39 and 35 citations, respectively, reflecting their influence on practical robot navigation. A foundational paper from 1991 on reflexive collision avoidance within a recursive architecture further underscores the longevity of these ideas. For students and researchers, Holenstein’s research offers enduring insights into sensor-based reactive control and robust localization—cornerstones of modern autonomous systems.