S. Sekhavat

About

S. Sekhavat is a prominent robotics researcher whose work has fundamentally advanced the field of motion planning for nonholonomic and mobile robotic systems. With a career spanning over two decades, Sekhavat has made seminal contributions to solving one of robotics' most challenging problems: enabling robots with movement constraints to navigate complex environments efficiently and safely. Sekhavat's most influential work, "Guidelines in Nonholonomic Motion Planning for Mobile Robots" (2006), has garnered over 320 citations, establishing foundational principles that researchers and engineers continue to rely upon. His multilevel path planning approach (1998, 140 citations) introduced an elegant hierarchical framework that intelligently decomposes complex planning problems, while his sustained work on the Hilare trailer system demonstrated how theoretical advances could be realized in rigorous real-world experiments. Beyond classical nonholonomic systems, Sekhavat extended his expertise to dynamic environments through the innovative Non-Linear Velocity Obstacle concept, addressing real-time planning constraints that practical robotics demands. His explorations of differential flatness — applied to bi-steerable cars and the Cycab robot — further demonstrate his versatility across system types. Collectively accumulating over 800 citations, Sekhavat's body of work represents an essential intellectual bridge between theoretical robotics and deployable autonomous systems.

Research Focus

Key Achievements

Top Papers

1. 1
   Guidelines in nonholonomic motion planning for mobile robots

   321 citations · 2006
2. 2
   Multilevel Path Planning for Nonholonomic Robots Using Semiholonomic Subsystems

   140 citations · 1998
3. 3
   Motion planning and control for Hilare pulling a trailer

   122 citations · 1999
4. 4
   Towards real-time global motion planning in a dynamic environment using the NLVO concept

   62 citations · 2003
5. 5
   Motion planning and control for Hilare pulling a trailer: experimental issues

   42 citations · 2002
6. 6
   Concurrent matching, localization and map building using invariant features

   29 citations · 2003
7. 7
   Feedback control of a bi-steerable car using flatness application to trajectory tracking

   26 citations · 2004
8. 8
   Motion Planning in Dynamic Environments

   25 citations · 2007
9. 9
   Time optimal paths for a mobile robot with one trailer

   22 citations · 2003
10. 10
    The Cycab robot: a differentially flat system

    22 citations · 2002

Key Collaborators

Contact & Links