Chang Wen-sen

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About

Chang Wen-sen is a pioneering researcher in multi-robot systems and cooperative robotics, whose work has shaped decentralized approaches to autonomous navigation. His most influential contribution, the 2003 paper "A decentralized approach to the conflict-free motion planning for multiple mobile robots" (21 citations), introduced a novel framework that decomposes motion planning into global and local path planning stages, leveraging AI techniques for optimal global paths while enabling real-time local collision avoidance. This work laid the foundation for scalable multi-robot coordination in dynamic environments. Wen-sen further advanced the field with his 2005 study "Hybrid Control Of Two Cooperative Robots" (3 citations), which extended hybrid position/force control from single to cooperative robots, enabling two manipulators to jointly handle an object under environmental constraints. His research bridges theoretical control theory with practical robotic applications, addressing critical challenges in manufacturing, warehouse automation, and human-robot collaboration. By combining AI-driven planning with robust control strategies, Wen-sen has provided essential tools for engineers designing safe, efficient multi-robot systems—a cornerstone of modern robotics research.