Mohab Safey El Din
Centre National de la Recherche Scientifique, Nantes Université
Papers
5
Total Citations
45
H-Index
3
About
Mohab Safey El Din is a leading figure at the intersection of computer algebra, real algebraic geometry, and robotics. His research focuses on developing rigorous algorithmic methods for solving polynomial systems, with a particular emphasis on problems with positive-dimensional solution sets and connectivity queries. A cornerstone of his work is the globally optimal solution to the Inverse Kinematics (IK) problem for general 7-degree-of-freedom serial manipulators, a breakthrough that addresses a fundamental challenge in robotics by guaranteeing optimality under joint limits. His contributions extend to the theoretical foundations of robot motion planning, where he has advanced the algorithmic classification of cuspidal robots—those capable of singularity-free reconfigurations—by leveraging sophisticated computer algebra techniques to decide cuspidality for complex, six-degree-of-freedom systems. With over 45 citations across his most-cited works, Safey El Din’s impact is evident in both high-impact journals and practical applications, including image-based visual servoing. His recent work on computing roadmaps in unbounded smooth real algebraic sets further solidifies his reputation as a pioneer in connecting abstract algebraic geometry to tangible robotic challenges, making him a vital resource for students and researchers seeking to bridge theory and practice.
Research Focus
Key Achievements
Top Papers
- 1Globally Optimal Solution to Inverse Kinematics of 7DOF Serial Manipulator26 citations · 2022
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