Chia-Nan Ko

Papers

Total Citations

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About

Chia-Nan Ko is a researcher specializing in the control and optimization of robotic systems, with a particular focus on omni-directional mobile robots. His major contributions lie in developing novel computational methods for time-optimal control—a critical challenge in robotics where minimizing travel time while maintaining precision is paramount. Rather than relying on traditional analytical approaches like Pontryagin's Minimum Principle, Ko pioneered iterative procedures that transform complex time-optimal problems into tractable nonlinear programming formulations. His most cited work (2008, 9 citations) introduces a nonlinear programming method for achieving time-optimal control of three-wheeled omni-directional mobile robots, offering a practical alternative to conventional techniques. He further extended this work with a time-scaling method for near-time-optimal control along specified paths (2008, 3 citations) and an earlier foundational study on the same topic (2006, 3 citations). While his citation counts reflect a focused, specialized audience, Ko's methodological innovations provide valuable tools for researchers working on autonomous navigation and robot motion planning, demonstrating how numerical optimization can effectively address complex control problems in mobile robotics.