Papers
7
Total Citations
327
H-Index
6
About
Daniel Zelazo is a leading researcher in the field of multi-robot systems, with a primary focus on formation control, rigidity theory, and cooperative manipulation. His most significant contributions lie in developing decentralized strategies for maintaining formation rigidity in multi-robot teams using only range or bearing measurements, a critical capability for autonomous operations in GPS-denied environments. His foundational 2014 paper on decentralized rigidity maintenance control has garnered over 105 citations, establishing a key framework for allowing robot teams to dynamically change topology while preserving structural integrity. Zelazo’s work extends rigidity theory from Euclidean space to SE(2) and SE(3), enabling novel approaches to relative position estimation and cooperative manipulation. Notably, his 2018 paper on distributed formation control for multirotor UAVs, with 65 citations, provides experimentally validated algorithms for formation balancing and maneuvering. His recent research integrates rigidity theory with cooperative manipulation, introducing concepts of bearing and distance rigidity for internal force regulation. With over 300 total citations across his most-cited works, Zelazo’s research has profoundly impacted the theoretical foundations and practical implementation of autonomous multi-robot coordination.
Research Focus
Key Achievements
Top Papers
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- 2Rigidity Maintenance Control for Multi-Robot Systems65 citations · 2012
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- 6Rigidity Maintenance Control for Multi-Robot Systems16 citations · 2013
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