Igi Ardiyanto
Papers
17
Total Citations
159
H-Index
7
About
Dr. Igi Ardiyanto is a leading researcher in mobile robotics and autonomous navigation, with a focus on path planning, perception, and manipulation. His seminal work on real-time navigation introduced the randomized kinodynamic planning with arrival time field (45 citations), a method that enables robots to efficiently compute safe, kinodynamically feasible paths in dynamic environments. He further advanced this with the HeAT algorithm, which biases random tree search toward shorter and safer routes. Dr. Ardiyanto has made significant contributions to robotic manipulation, developing a deep learning-based affordance map for suction-based grasp point estimation in cluttered settings (14 citations). In path planning, he proposed a novel repulsive function for the Artificial Potential Field method, solving the persistent GNRON problem (14 citations). His work also spans behavior-based state-adaptive PID control for low-cost mobile robots, LIDAR-based body orientation estimation, and visibility-based viewpoint planning for guard robots. With over 130 total citations, Dr. Ardiyanto’s research is widely recognized for its practical impact on real-world robotic systems, from autonomous navigation to intelligent manipulation.
Research Focus
Key Achievements
Top Papers
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- 8Time-space Viewpoint Planning for Guard Robot with Chance Constraint6 citations · 2018
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