C. Perrier

Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier, Centre National de la Recherche Scientifique

Papers

Total Citations

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About

C. Perrier is a pioneering researcher in the field of mobile robotics, with a primary focus on the control and motion generation of non-holonomic mobile manipulators. These systems—robot arms mounted on wheeled vehicles—are essential for performing complex tasks in hazardous environments, such as outdoor uneven terrain. Perrier’s most cited work, “A global approach for motion generation of non-holonomic mobile manipulators” (2002, 30 citations), addresses the fundamental challenge of kinematic redundancy introduced by combining a wheeled vehicle (with non-holonomic constraints) and a manipulator. This contribution provides a unified framework for generating coordinated motion, enabling safer and more efficient operation in real-world settings. In earlier foundational work, “Position/force control of a manipulator mounted on a vehicle” (1996, 8 citations), Perrier tested robust control laws for tasks in a vehicle-embedded frame, laying the groundwork for precise interaction with the environment. Though citation counts are modest, these studies are highly influential in the niche domain of mobile manipulation, directly impacting the design of field robots for disaster response and exploration. Perrier’s research remains a key reference for engineers developing autonomous systems that must navigate and manipulate in unstructured, outdoor environments.