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About

Dr. S. Khodaygan is a leading researcher in robotics and autonomous systems, whose work bridges the critical gap between mechanical precision and intelligent navigation. His research primarily focuses on two interconnected domains: **uncertainty analysis for robotic accuracy** and **advanced path planning for mobile robots**. In the realm of mechanical design, Dr. Khodaygan has made foundational contributions by developing statistical methods to quantify and mitigate the effects of joint clearances and link dimension deviations on robot end-effector accuracy. His 2016 paper on this topic, which has garnered 29 citations, provides essential frameworks for designing high-precision spatial robots. More recently, Dr. Khodaygan has pioneered the integration of machine learning with path planning. His most cited work (64 citations) introduces an optimal path-planning method for mobile robots searching for hidden targets in unknown environments. He has further advanced the field with a continuous RRT*-based method using B-spline curves (50 citations) and the novel R3T*-MOSafeRL algorithm, which combines safe reinforcement learning with real-time navigation in dynamic environments. Through these contributions, Dr. Khodaygan is shaping the future of autonomous robotics, enabling robots to navigate complex, uncertain worlds with unprecedented accuracy and intelligence.