T. Oosumi
Papers
8
Total Citations
291
H-Index
6
About
T. Oosumi is a robotics researcher whose work has made significant contributions to the field of multi-robot coordination and decentralized control systems. His research centers on enabling multiple autonomous mobile robots to collaboratively transport and manipulate single objects without requiring centralized coordination — a challenging and practically important problem in robotics. Oosumi's most influential contribution is the development of leader-follower decentralized control algorithms, in which one robot receives explicit motion commands while follower robots independently estimate and respond to the leader's behavior. His 2002 paper on this framework has accumulated 126 citations, reflecting its foundational impact on cooperative robotics. He extended this approach to nonholonomic mobile robots — systems with wheel-based motion constraints — accumulating an additional 60 citations for that work. His research on equal load-sharing among coordinated robots (47 citations) further refined these algorithms for practical deployment. Oosumi also introduced innovative hardware solutions, notably the body force sensor architecture, which improves sensor-actuator collocation in mobile robots and enhances force control during coordinated transportation tasks. His work spans holonomic and omni-directional platforms, nonholonomic systems, and coordinate calibration methods for multi-manipulator systems. With a cumulative citation count exceeding 290, Oosumi's research remains a valuable reference for engineers and researchers designing cooperative robotic systems.
Research Focus
Key Achievements
Top Papers
- 1Decentralized control of multiple robots handling an object126 citations · 2002
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