Papers
7
Total Citations
41
H-Index
4
About
Pouya Mallahi Kolahi is a rising researcher at the intersection of robotics, nonlinear dynamics, and optimal control theory, with a particular focus on mobile and continuum robotic systems. His work spans two primary domains: the modeling and path planning of tractor-trailer mobile robots, and the advanced control of ferromagnetic continuum robots (FCRs) for medical applications. In mobile robotics, Kolahi has made significant contributions by incorporating wheel inertia into dynamic models and developing optimal point-to-point path planning strategies that simultaneously minimize time and kinetic energy while avoiding obstacles—work that has garnered 16 citations for his 2022 paper. For continuum robots, he has pioneered the use of Cosserat rod theory for quasi-static and dynamic modeling, enabling more accurate control of these flexible, magnetically-actuated devices. His 2024 paper on this topic has already accumulated 7 citations, reflecting growing interest in his approach. More recently, Kolahi has explored neural network-based modeling and hybrid sliding mode controllers for real-time FCR control, demonstrating a commitment to bridging theoretical mechanics with practical implementation. His work is particularly notable for its potential impact on minimally invasive surgery, where precise control of flexible robots is critical.
Research Focus
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Top Papers
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