Max Robotics — Global Service Robot Directory + US Certification

About

Roman Chertovskih is a leading researcher in optimal control theory, with a particular focus on time-optimal motion planning for mobile robots under state constraints. His major contributions lie in tackling the notoriously difficult class of "non-regular" control problems, where standard assumptions for applying Pontryagin’s Maximum Principle break down. Chertovskih has pioneered the use of regularization and perturbation methods to analyze these essentially non-regular problems, enabling the rigorous study of optimal trajectories for systems like unicycle and three-wheeled robots when their motion is restricted by obstacles or boundaries. His 2021 paper on a regularization approach for a mobile robot under state constraints has garnered 6 citations, while his foundational 2020 work on perturbation methods for non-regular problems has received 4 citations. By developing mathematical frameworks that extend classical optimal control to these challenging scenarios, Chertovskih’s research bridges a critical gap between theory and application, providing tools essential for autonomous navigation in constrained environments. His work is particularly valuable for researchers in robotics and control engineering seeking to understand the fundamental limits of time-optimal motion.