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About

Ali Marhoon is a researcher specializing in mobile robotics, with a focus on path planning, obstacle avoidance, and multi-robot systems. His major contributions include the development of the "virtual circle tangents" algorithm, a novel approach for navigating polygonal obstacles by representing them as virtual circles to compute collision-free trajectories. This work, published in 2016, has garnered 15 citations and remains a cornerstone of his research. He also introduced a "Prediction-Based Path Planning" algorithm for dynamic target environments, enabling robots to efficiently track moving targets while avoiding obstacles, which has accumulated 14 citations. In multi-robot systems, Marhoon has explored self-organization inspired by biological groups and leader-follower dynamics, addressing challenges in formation control and path tracking. His notable achievements include advancing practical solutions for real-world robotic navigation, bridging the gap between theoretical algorithms and autonomous system deployment. With a total of over 45 citations across his key works, Marhoon’s research is valuable for students and engineers working on autonomous navigation, swarm robotics, and intelligent control systems.