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About

Sneha Gajbhiye is a robotics and control systems researcher whose work centers on the geometric modeling, analysis, and control of nonholonomic robotic systems, with a particular focus on spherical mobile robots. Her most significant contributions lie in applying differential geometric frameworks — including Euler-Poincaré equations and principal fiber bundle formulations — to rigorously model and control spherical robots actuated by internal mechanisms such as pendulums and rotors. Her 2015 paper on geometric modeling and local controllability of a pendulum-actuated spherical robot stands as her most influential work, garnering 28 citations, while her 2012 derivation of Euler-Poincaré equations for such systems has accumulated 22 citations, together establishing foundational mathematical tools for the field. Gajbhiye has also made notable strides in geometric tracking control, developing orientation and contact position tracking laws using modified trace potential functions for nonholonomic systems. Her research extends beyond spherical robots, as evidenced by recent work on finite-time trajectory tracking for mecanum-wheeled robots, demonstrating a broadening research scope. With a body of work that bridges abstract geometric mechanics and practical robotics, Gajbhiye's contributions offer valuable theoretical grounding for researchers designing and controlling complex mobile robotic platforms.