Stefan Jakubek
TU Wien, Institute of Mechanics, Anstalt für Verbrennungskraftmaschinen List
Papers
6
Total Citations
76
H-Index
4
About
Stefan Jakubek is a leading figure in mobile robotics, renowned for his pioneering work in proprioceptive navigation and predictive control for autonomous wheeled vehicles. His research centers on enabling robots to navigate and track trajectories with high precision using only internal sensors—such as gyroscopes and accelerometers—rather than relying on external landmarks. Jakubek’s major contributions include developing a novel algorithm that combines extended Kalman filtering with inertial sensor data for purely proprioceptive state estimation, effectively addressing slip and odometric errors. This work, detailed in his most-cited paper (29 citations), also introduces a slip control mechanism that enhances robustness in real-world conditions. He further advanced the field with predictive trajectory tracking algorithms, as seen in two highly cited 2005 papers (each with 18 citations), which unify trajectory tracking and point stabilization for nonholonomic robots. More recently, Jakubek has explored efficient feedforward strategies for sloshing suppression in liquid transport (2024, 5 citations), showcasing his adaptability to new challenges. His contributions, including the control concept for the "Tinyphoon" mobile robot, have significantly influenced autonomous navigation, making his work essential reading for students and researchers in robotics and control systems.
Research Focus
Key Achievements
Top Papers
- 1
- 2MOBILE ROBOT PREDICTIVE TRAJECTORY TRACKING18 citations · 2005
- 3
- 4Efficient feedforward sloshing suppression strategy for liquid transport5 citations · 2024
- 5
- 6The Tinyphoon's Control Concept2 citations · 2006