Katarzyna Zadarnowska
Papers
7
Total Citations
90
H-Index
5
About
Dr. Katarzyna Zadarnowska is a leading roboticist whose research centers on the motion planning and performance evaluation of non-holonomic robotic systems, with a particular focus on mobile manipulators and wheeled mobile robots. Her foundational work introduced an endogenous configuration space approach to quantify the kinematic dexterity of mobile manipulators, a framework that has become a cornerstone in the field (25 citations). She further advanced the discipline by pioneering a control theory methodology for defining performance measures of these complex systems (27 citations). Dr. Zadarnowska’s most impactful contributions address the critical challenge of wheeled mobile robots operating under slipping conditions. She developed task-priority motion planning algorithms that explicitly model and compensate for longitudinal and lateral wheel slip, significantly enhancing robot reliability in real-world environments (14 and 13 citations for her 2012 and 2016 papers). Her recent exploration of normal forms for motion planning of free-floating space robots (2021) demonstrates her ongoing commitment to tackling frontier problems in non-holonomic robotics.
Research Focus
Key Achievements
Top Papers
- 1A control theory framework for performance evaluation of mobile manipulators27 citations · 2007
- 2
- 3Task-Priority Motion Planning of Wheeled Mobile Robots Subject to Slipping14 citations · 2012
- 4
- 5Motion planning of wheeled mobile robots subject to slipping6 citations · 2011
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