H. Jaouni

Laboratoire d'Analyse et d'Architecture des Systèmes, Centre National de la Recherche Scientifique

Papers

Total Citations

127

H-Index

About

H. Jaouni is a robotics researcher whose work centers on motion planning and control for nonholonomic mobile robots—vehicles whose movement constraints, like those of a car, prevent them from moving sideways. Jaouni’s most significant contribution is a dynamic path modification method for car-like robots, which seamlessly integrates global planning with reactive local control. This approach, detailed in the 2002 paper "Dynamic path modification for car-like nonholonomic mobile robots" (119 citations), introduces the concept of a "bubble"—the locally reachable space from a given configuration, computed by considering obstacles and a suitable metric. By flexibly adjusting paths in real-time, this work bridges the gap between pre-planned routes and on-the-fly obstacle avoidance, a critical challenge in autonomous navigation. Jaouni’s earlier 1998 paper, "How to implement dynamic paths" (8 citations), laid foundational ideas for this framework. While citation counts highlight the 2002 paper as a key reference in nonholonomic robotics, Jaouni’s research remains essential for students and engineers developing agile, constraint-aware mobile robots for applications from warehouse logistics to autonomous driving.