Ignacio Mas

About

Ignacio Mas is a pioneering roboticist whose career has been defined by the development and advancement of cluster space control — a groundbreaking framework for coordinating mobile multirobot systems. His foundational 2009 paper introducing cluster space state representation (106 citations) established a conceptual architecture that simplified the specification and monitoring of multirobot formations, reshaping how researchers approach collective robot motion. Mas consistently extended this framework across increasingly complex scenarios, addressing nonholonomic systems, obstacle avoidance, and both centralized and decentralized control architectures, accumulating hundreds of citations across his body of work. A particularly notable thread in Mas's research is the translation of theory into real-world marine robotics applications. His work on dynamic guarding of marine assets using fleets of robotic kayaks (71 citations) and gradient-based navigation for autonomous surface vessels (40 citations) demonstrated that cluster space methods could solve practical, high-stakes problems in open-water environments. His contributions span entrapment, escorting, patrolling, and adaptive field navigation missions. More recently, his 2021 work incorporating dual quaternion representations signals a continued evolution of the framework toward greater mathematical sophistication. Mas's research stands as a comprehensive, experimentally validated contribution to the field of multirobot coordination.

Research Focus

Key Achievements

Top Papers

1. 1
   Cluster Space Specification and Control of Mobile Multirobot Systems

   106 citations · 2009
2. 2
   Dynamic Guarding of Marine Assets Through Cluster Control of Automated Surface Vessel Fleets

   71 citations · 2011
3. 3
   Entrapment/escorting and patrolling missions in multi-robot cluster space control

   52 citations · 2009
4. 4
   Gradient-Based Cluster Space Navigation for Autonomous Surface Vessels

   40 citations · 2014
5. 5
   Obstacle Avoidance Policies for Cluster Space Control of Nonholonomic Multirobot Systems

   38 citations · 2011
6. 6
   Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation

   36 citations · 2014
7. 7
   Centralized and decentralized multi-robot control methods using the cluster space control framework

   34 citations · 2010
8. 8
   Cluster space specification and control of a 3-robot mobile system

   30 citations · 2008
9. 9
   Cluster Space Control of Autonomous Surface Vessels

   19 citations · 2009
10. 10
    Dual Quaternion Cluster-Space Formation Control

    17 citations · 2021

Key Collaborators

Contact & Links