Dawid. Szakiel

Wrocław University of Science and Technology

Papers

Total Citations

H-Index

About

Dawid Szakiel is a robotics researcher whose work centers on the control of nonholonomic mobile manipulators—robotic systems that combine a mobile base with a manipulator arm, subject to non-integrable motion constraints. His most cited paper, "On path following control of nonholonomic mobile manipulators" (2009, 30 citations), addresses the fundamental challenge of designing control laws for these complex systems. Szakiel’s key contribution lies in exploiting the cascade structure of the motion equations to apply a backstepping procedure, enabling stable and precise path following for two distinct types of mobile manipulators. This approach elegantly handles the coupling between the base and arm dynamics, a critical issue in real-world applications like autonomous inspection or material handling. While his citation count reflects a focused, technical impact, Szakiel’s work provides a foundational framework for researchers tackling motion control in constrained robotic systems. His achievements demonstrate a deep understanding of nonlinear control theory and its practical deployment, making his research a valuable reference for students and engineers working on mobile manipulation, particularly in scenarios requiring coordinated base-arm motion under nonholonomic constraints.