Papers
15
Total Citations
122
H-Index
6
About
Alicja Mazur is a leading researcher in the control of nonholonomic mobile manipulators, with a career spanning foundational theory to practical robotic implementation. Her work focuses on solving the complex control challenges posed by wheeled mobile robots and manipulators that are subject to nonholonomic constraints—systems where motion is path-dependent and cannot be controlled simply by direct steering. Dr. Mazur’s major contributions include pioneering the use of backstepping procedures for path-following control, as demonstrated in her most-cited paper (30 citations), and developing novel input-output decoupling controllers that generalize output function selection for nonholonomic systems (18 citations). She has also advanced the practical application of these theories through the “factitious force method” for controlling skid-steering platforms like the REX robot, addressing the underactuation inherent in such systems. Her work extends to medical robotics, notably contributing to the compliance force control of the Polish cardiosurgical robot RobIn Heart. With over a dozen publications and a consistent citation record, Dr. Mazur’s research bridges the gap between nonlinear control theory and real-world robotic mobility, making her a key figure in the field of autonomous mobile manipulation.
Research Focus
Key Achievements
Top Papers
- 1On path following control of nonholonomic mobile manipulators30 citations · 2009
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- 4Robust Control of Differentially Driven Mobile Platforms8 citations · 2012
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- 6Path Following for Nonholonomic Mobile Manipulators8 citations · 2007
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- 8Trajectory Tracking Control for Nonholonomic Mobile Manipulators6 citations · 2007
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