Garrett M. Clayton
Papers
12
Total Citations
275
H-Index
6
About
Garrett M. Clayton is a leading researcher in the fields of nonlinear control systems, underactuated vehicle dynamics, and field robotics. His most significant contribution is a novel trajectory tracking control framework for planar underactuated vehicles, which has garnered 111 citations and addresses the fundamental challenge of controlling systems with fewer actuators than degrees of freedom. Building on this, he has advanced sliding mode control for finite-time tracking and coordinated multi-agent systems, enabling robust performance even with underactuated agent dynamics. Clayton’s work extends to practical applications, notably in humanitarian demining and explosive ordnance disposal (EOD). He has developed an omnidirectional screw-driven robot for all-terrain navigation and low-cost EOD robots for deployment in Southeast Asia, with projects supported by collaborations with the Golden West Humanitarian Foundation. His research also includes error analysis for visual odometry using 3-D sensors, improving localization for indoor wheeled mobile robots. With over 250 total citations and a focus on bridging theory and real-world impact, Clayton’s contributions are vital for advancing autonomous systems in challenging environments.
Research Focus
Key Achievements
Top Papers
- 1Trajectory Tracking Control of Planar Underactuated Vehicles111 citations · 2016
- 2Finite-time tracking using sliding mode control68 citations · 2014
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- 6Mechatronics for Humanitarian Explosive Ordnance Disposal in Cambodia6 citations · 2018
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- 9One-Point Visual Odometry Using a RGB-Depth Camera Pair4 citations · 2012
- 10Prediction of Wheel Slipping Limits for Mobile Robots4 citations · 2018