Papers
9
Total Citations
405
H-Index
7
About
H.E. Lehtihet is an accomplished robotics and automation researcher whose career has centered on the challenging domain of trajectory planning and motion optimization for robotic systems. Working at the intersection of computational optimization and robot kinematics, Lehtihet has made significant contributions to solving some of the most computationally demanding problems in industrial and mobile robotics. His most influential work, "Minimum Cost Trajectory Planning for Industrial Robots" (2004), has garnered over 230 citations, establishing him as a key voice in optimal motion planning for serial manipulators. Building on this foundation, Lehtihet extended his expertise to nonholonomic systems, developing efficient stochastic optimization schemes for unicycle mobile robots under trapezoidal-velocity constraints — work that attracted 57 citations — and pioneering random-profile approaches for wheeled mobile robots with 51 citations. A recurring theme across his portfolio is tackling trajectory planning under realistic dynamic constraints, including curvature, velocity, torque, and stability requirements. His research progressively addressed increasingly complex platforms, from standalone mobile robots to mobile manipulators with under-actuated platforms and robot-trailer systems. Lehtihet's body of work provides both theoretical rigor and practical methodologies that continue to inform modern robotic motion planning research.
Research Focus
Key Achievements
Top Papers
- 1Minimum cost trajectory planning for industrial robots231 citations · 2004
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- 3A random-profile approach for trajectory planning of wheeled mobile robots51 citations · 2006
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