Rahul Mukherjee

The University of Tokyo, National Institute of Technology Durgapur

Papers

Total Citations

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About

Rahul Mukherjee is a pioneering researcher in space robotics and autonomous mobile systems, whose work has fundamentally shaped how robots operate in unconstrained environments. His most influential contribution, the 1992 paper "Formulation and efficient computation of inverse dynamics of space robots" (42 citations), addresses the unique kinematic and dynamic challenges of free-flying robots used for constructing and maintaining space structures. By solving the inverse dynamics problem under momentum constraints—a critical departure from earth-fixed robotics—Mukherjee provided the theoretical foundation for controlling robots that must operate without a fixed base, enabling precise manipulation in zero-gravity environments. His later work on mobile robot localization (2006, 6 citations) advanced indoor navigation by demonstrating how correlations between robot and map estimation errors are essential for accurate localization, introducing data association methods that remain relevant for autonomous systems. Mukherjee’s research bridges the gap between space and terrestrial robotics, offering insights into momentum-based control and sensor fusion that continue to inspire engineers tackling autonomous navigation in complex, unstructured domains. His legacy lies in solving fundamental problems that enable robots to move and work independently, whether in orbit or indoors.