Papers
3
Total Citations
51
H-Index
2
About
M.A. Unseren is a robotics researcher whose work centers on the control of mobile manipulators and wheeled vehicles, with a particular focus on the intricate dynamics of vehicles equipped with multiple steerable drive wheels. His most significant contribution lies in the development of control strategies that simultaneously manage a vehicle's position and the constraint forces acting upon its wheels. This is a critical challenge because, as Unseren’s research demonstrates, when a vehicle with two or more steerable drive wheels turns, it rotates about an instantaneous center, creating a kinematic constraint where the translational velocity of each wheel must be proportional to its distance from that center. His seminal 1993 paper, "Position and constraint force control of a vehicle with two or more steerable drive wheels," which has garnered 47 citations, provides a foundational framework for addressing this constraint. By proposing methods to control both the vehicle's trajectory and the forces ensuring wheel coordination, Unseren’s work has advanced the field of autonomous mobile robotics, offering essential insights for the design of more precise and stable robotic platforms.
Research Focus
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