Robert Iviev

California Institute of Technology, Jet Propulsion Laboratory

Papers

Total Citations

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About

Robert Iviev is a pioneering researcher in the field of robotics, with a primary focus on sensor-based collision avoidance for manipulators. His most influential work, the 1996 paper "Sensor-based collision avoidance: Theory and experiments," introduces a novel online control strategy that uses virtual forces—modeled as a hypothetical spring-plus-damper system—to guide a robotic arm away from obstacles in real time. This approach, which nullifies virtual forces applied to the end-effector, represents a significant theoretical and practical contribution to safe human-robot interaction and autonomous manipulation. With over 25 combined citations across his key publications, Iviev’s research has provided a foundational framework for later developments in reactive motion planning and sensor-guided robotics. His work is particularly notable for bridging theory with experimental validation, offering a robust solution for dynamic environments. For students and researchers in robotics, Iviev’s contributions remain a cornerstone for understanding how manipulators can navigate cluttered spaces without precomputed paths, making his studies essential reading for those advancing collision avoidance and autonomous systems.