M. Tounsi

Nantes Université, École Centrale de Nantes

Papers

Total Citations

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About

M. Tounsi is a robotics researcher whose work has advanced the control and trajectory generation of mobile robots, particularly those with nonholonomic constraints. His most influential contribution, "Trajectory generation for mobile robots" (1996), has accumulated 46 citations, establishing a foundation for motion planning in robotic systems. Tounsi’s research focuses on dynamic control strategies, as demonstrated in his 2002 paper on dynamic control in Cartesian space, which proposes a two-level control scheme—high-level for platform positioning and low-level for wheel velocity regulation—validated through experimental results. His work on dynamic identification and control (2002) further refines computed torque control by identifying a minimum set of dynamical parameters using least squares techniques, enabling more precise robot behavior. Beyond mobile robotics, Tounsi contributed to industrial applications with the START system (2002), a software architecture for rapidly designing controllers in telerobotic systems, particularly for nuclear power plant repair. With a total of 68 citations across his key papers, Tounsi’s research bridges theoretical control methods and practical implementation, offering valuable insights for students and researchers in nonholonomic robotics and industrial automation.