Sean Brennan
Papers
22
Total Citations
308
H-Index
9
About
Sean Brennan’s research lies at the intersection of robotics, vehicle dynamics, and energy-efficient autonomy, with a particular focus on skid-steer robots—machines that steer by varying the speed of their tracks or wheels. His most influential work, cited 86 times, introduces a model-based kinematic extended Kalman filter that estimates the instantaneous centers of rotation (ICRs) of tracks, dramatically improving odometry and motion prediction for these notoriously slip-prone robots. This foundational insight—mapping ICR kinematics to unicycle control strategies—has enabled standardized control methods for skid-steer platforms, bridging a decades-long gap in the field. Brennan has also pioneered energy-aware path planning, developing models that predict power consumption across mixed surfaces and hilly terrain, with applications ranging from autonomous inspection of nuclear waste storage casks to rollover prediction using zero-moment point methods. His work on serpentine gaits for snake robots and integration of ROS with traffic simulators for connected autonomous vehicles further demonstrates his versatility. With over 250 citations across his top papers, Brennan’s contributions are shaping how robots navigate complex, real-world environments efficiently and safely.
Research Focus
Key Achievements
Top Papers
- 1
- 2Toward Robotic Inspection of Dry Storage Casks for Spent Nuclear Fuel27 citations · 2017
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- 7Energy-Aware Path Planning for Skid-Steer Robots Operating on Hilly Terrain20 citations · 2020
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