Clark R. Dohrmann

About

Clark R. Dohrmann is a researcher whose work sits at the intersection of robotics, control systems, and autonomous vehicle coordination. He is perhaps best known for his pioneering contributions to slosh-free motion control — the challenge of moving open containers of liquid, such as molten glass, without disturbing the fluid surface. His landmark 1997 paper on this topic has garnered 142 citations and introduced boundary element modeling of fluid dynamics to inform command-shaping strategies for robotic arms, work with direct industrial relevance through a collaboration with Corning, Inc. Dohrmann's comparative analysis of maneuver optimization versus input shaping filters further deepened the field's understanding of these techniques. Beyond liquid control, he contributed to flexible robot dynamics, trajectory planning via dynamic programming, and system identification. His research also expanded into multi-agent systems, exploring decentralized control and distributed sensing for swarms of autonomous robotic vehicles performing search and source-localization tasks. With a publication record spanning over a decade and a cumulative citation profile reflecting steady influence, Dohrmann represents a versatile and practically minded robotics researcher whose contributions bridge theoretical modeling and real-world engineering applications.

Research Focus

Key Achievements

Top Papers

1. 1
   Control for slosh-free motion of an open container

   142 citations · 1997
2. 2
   Flexible Robot Dynamics and Controls

   63 citations · 2002
3. 3
   A comparison of maneuver optimization and input shaping filters for robotically controlled slosh-free motion of an open container of liquid

   29 citations · 1997
4. 4
   Decentralized Control for a Swarm of Vehicles Performing Source Localization

   20 citations · 2004
5. 5
   Robotically controlled slosh-free motion of an open container of liquid

   19 citations · 2002
6. 6
   System Identification

   14 citations · 2002
7. 7
   Distributed Sensing and Cooperating Control for Swarms of Robotic vehicles

   14 citations · 1998
8. 8
   Robot trajectory planning via dynamic programming

   9 citations · 1994
9. 9
   Control for Slosh-Free of an Open Container

   2 citations · 1997
10. 10
    Modeling, system identification, and control for slosh-free motion of an open container of liquid

    2 citations · 1996

Key Collaborators

Contact & Links