Asghar Khanpoor

Papers

Total Citations

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About

Asghar Khanpoor is a robotics researcher whose work centers on the dynamics, modeling, and control of wheeled mobile robots (WMRs), with a particular focus on underactuated systems and trajectory tracking — two of the most challenging and practically significant problems in mobile robotics. His most influential contribution, "Modeling and Control of an Underactuated Tractor–Trailer Wheeled Mobile Robot" (2017), has garnered 43 citations, establishing him as a notable voice in the field of nonholonomic robotic systems. In this work, Khanpoor tackled the inherent complexity of controlling tractor-trailer configurations, where the number of control inputs is fewer than the degrees of freedom, demanding sophisticated mathematical and control-theoretic approaches. His earlier paper from 2014 on omni-directional trailer dynamics further demonstrates his sustained interest in extending trajectory tracking solutions to increasingly complex robotic platforms. Together, these contributions reflect Khanpoor's commitment to advancing autonomous mobile robot navigation in real-world scenarios. His research offers valuable theoretical foundations and practical insights for engineers and students working on autonomous vehicles, robotic manipulation, and multi-body mobile systems.