Ilia G. Polushin

About

Ilia G. Polushin is a control systems and robotics researcher whose work spans networked control systems, telerobotics, surgical robotics, and autonomous navigation. He is perhaps best known for his foundational contributions to the synchronization of networked Euler-Lagrange systems under challenging communication conditions — his 2013 paper addressing unknown, discontinuous time-varying delays in directed communication networks has garnered 122 citations, establishing him as a leading voice in multi-agent systems theory. Polushin has also made significant strides in bilateral telerobotic rehabilitation, developing novel control architectures that integrate haptic feedback for physiotherapy applications, reflecting a commitment to translating rigorous theory into clinical relevance. A recurring theme across his research is the modeling and control of tendon-driven surgical instruments, including hysteresis characterization and tissue compliance estimation for the da Vinci surgical system — work with important implications for force sensing in minimally invasive surgery. More recently, he has advanced generalized scattering-based frameworks for stabilizing non-passive robot-environment interactions, extending classical passivity theory into broader practical territory. His hybrid feedback approach to autonomous navigation in obstacle-cluttered environments further demonstrates the breadth of his expertise. Across more than a decade of sustained contribution, Polushin's research consistently bridges rigorous mathematical control theory with real-world robotic applications.

Research Focus

Key Achievements

Top Papers

1. 1
   Synchronization of Lagrangian Systems With Irregular Communication Delays

   122 citations · 2013
2. 2
   A Small-Gain Approach for Nonpassive Bilateral Telerobotic Rehabilitation: Stability Analysis and Controller Synthesis

   56 citations · 2016
3. 3
   Counteracting modeling errors for sensitive observer-based manipulator collision detection

   32 citations · 2012
4. 4
   Scattering-based stabilization of non-planar conic systems

   16 citations · 2018
5. 5
   A Motion Transmission Model for a Class of Tendon-Based Mechanisms With Application to Position Tracking of the da Vinci Instrument

   13 citations · 2019
6. 6
   Classical Preisach model of hysteretic behavior in a da Vinci instrument

   11 citations · 2016
7. 7
   Tissue compliance determination using a da Vinci instrument

   10 citations · 2015
8. 8
   Hybrid Feedback for Autonomous Navigation in Planar Environments With Convex Obstacles

   10 citations · 2023
9. 9
   Stabilization of Robot-Environment Interaction Through Generalized Scattering Techniques

   7 citations · 2021
10. 10
    A motion transmission model for multi-DOF tendon-driven mechanisms with hysteresis and coupling: Application to a da Vinci® instrument

    5 citations · 2017

Key Collaborators

Contact & Links