Yaniss Touahmi

Seoul National University, Samsung (South Korea)

Papers

Total Citations

H-Index

About

Yaniss Touahmi is a roboticist specializing in motion planning and multi-agent navigation, with a focus on dynamic environments and bio-inspired swarm behavior. His most influential work, "Grafting: A Path Replanning Technique for Rapidly-Exploring Random Trees in Dynamic Environments" (2012, 18 citations), introduces a novel replanning method that enhances the efficiency of RRT-based path planners when faced with moving obstacles. This contribution addresses a critical limitation of sampling-based planners, enabling robots to adapt trajectories in real time without full recomputation. Touahmi also explores congestion avoidance in multi-robot systems through his paper "Congestion Avoidance for Multiple Micro-Robots Using the Behaviour of Fish Schools" (2012, 6 citations), where he applies principles of fish schooling to coordinate micro-robot swarms and prevent deadlocks in dense traffic. His work bridges theoretical path planning with practical swarm intelligence, offering scalable solutions for micro-robotic teams. Though his citation counts are modest, Touahmi’s research is foundational for those working on real-time replanning and decentralized coordination in robotics. His contributions are particularly relevant to students and researchers interested in adaptive navigation, sampling-based algorithms, and bio-inspired multi-agent systems.