Mohammed N. Alghanim

Papers

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About

Mohammed N. Alghanim’s research focuses on the intersection of field robotics, terramechanics, and advanced control systems, with a particular emphasis on skid-steering mobile robots (SSMRs) and their integration with specialized payloads. His major contributions center on the modeling, control, and dynamic analysis of the UGV Argo J5, a rugged platform designed for challenging off-road environments. In his 2019 work, Alghanim combined terramechanics theory with vehicle kinetics to analyze wheel-terrain interaction, enabling more precise controller design for the Argo J5 and its custom-built landing platform. This foundational study, cited 5 times, addresses a critical gap in understanding how soil mechanics affect SSMR mobility and stability. Building on this, his 2020 paper introduced a Passivity-Based Adaptive Controller (PBAC) for dynamic self-leveling of the landing platform while maintaining accurate trajectory tracking. This work, also cited 5 times, demonstrates a novel approach to decoupling platform stabilization from vehicle motion—a key challenge for applications like aerial drone recovery or sensor deployment. Alghanim’s research is notable for its practical integration of theory and hardware, offering robust solutions for autonomous systems operating in unstructured terrain. His achievements highlight a promising trajectory in adaptive robotics and control, with implications for defense, agriculture, and disaster response.