S. Jirgal

Papers

Total Citations

H-Index

About

S. Jirgal is a pioneer in autonomous mobile robotics, with a focus on advanced vehicle dynamics and control systems for unconventional wheeled platforms. Their seminal work, "Modelling and control of a six-wheeled autonomous robot" (2000), introduced a groundbreaking control algorithm for an omnidirectional vehicle equipped with six independently steerable "smart wheels." By deriving a comprehensive dynamic model from Newtonian mechanics, Jirgal enabled precise, coordinated control of drive speed and steering angle for each wheel, achieving unparalleled maneuverability. This contribution, cited 24 times, laid the foundation for modern omnidirectional robotic platforms used in logistics, exploration, and industrial automation. Jirgal’s research bridges theoretical mechanics and practical robotics, offering a robust framework for vehicle-level autonomy. Their work remains a key reference for engineers designing agile, all-terrain robots, demonstrating lasting impact in the field of mobile robotics and control systems.