Papers
2
Total Citations
43
H-Index
2
About
Yi Qin is a robotics and control systems researcher whose work centers on the challenging problem of autonomous mobile robot navigation under real-world uncertainty. His research focuses particularly on wheeled mobile robots, developing sophisticated control frameworks that address the persistent and often overlooked problem of wheel slipping — a critical factor affecting robot reliability in practical deployments. Qin's most notable contribution is his development of adaptive unscented Kalman filter (AUKF)-based controllers that simultaneously handle trajectory tracking and obstacle avoidance while accounting for unknown slipping parameters. By modeling longitudinal and lateral wheel slipping as time-varying parameters and integrating AUKF estimation directly into the control loop, his approach bridges the gap between theoretical robot control and messy real-world conditions. His 2017 paper on simultaneous obstacle avoidance and tracking has garnered 39 citations, reflecting meaningful uptake within the mobile robotics community. What distinguishes Qin's work is its practical orientation — incorporating control constraints alongside dynamic parameter estimation, making his frameworks more deployable in realistic settings. His research offers students and engineers working on autonomous ground vehicles a principled yet implementable methodology for robust motion control under uncertain traction conditions.
Research Focus
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Top Papers
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