Papers
21
Total Citations
259
H-Index
9
About
S. R. Munasinghe is a robotics and autonomous systems researcher whose work spans aerial vehicles, robotic manipulators, and mobile robot navigation. Best known for pioneering contributions to quadrotor microaerial vehicle (MAV) state estimation, Munasinghe's 2013 paper introducing a drift-free velocity estimator for quadrotor MAVs has garnered 69 citations, establishing it as a significant reference in the unmanned aerial vehicle community. His research into robot manipulator trajectory planning has been equally impactful, with multiple papers addressing the critical challenges of torque saturation, jerk reduction, and contour control in industrial robot arms — problems with direct implications for manufacturing precision and efficiency. His 5-3-5 spline trajectory planning method (2014, 26 citations) represents a notable methodological advancement for smooth, vibration-minimizing motion generation. Beyond manipulators, Munasinghe has made meaningful contributions to mobile robotics, including obstacle avoidance, Bayesian map building using ultrasonic sensors, and visual odometry for field robot localization. His work on a semi-autonomous low-cost wheelchair further demonstrates a commitment to socially impactful robotics. Collectively, his research portfolio reflects a career dedicated to making robotic systems smarter, safer, and more practically deployable across diverse real-world environments.
Research Focus
Key Achievements
Top Papers
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- 4Enhanced contour control of SCARA robot under torque saturation constraint20 citations · 2000
- 5Obstacle Avoidance Using Velocity Dipole Field Method16 citations · 2005
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- 10Semiautonomous Low Cost Wheelchair for Elderly and Disabled People9 citations · 2006