Khadir Lakhdar Besseghieur

About

Khadir Lakhdar Besseghieur is a robotics researcher whose work centers on mobile robot control, multi-robot systems, and the practical implementation of autonomous navigation using the Robot Operating System (ROS). His research has made meaningful contributions to the field of nonholonomic mobile robot control, particularly in trajectory tracking and formation control strategies. His most-cited work, "Trajectory Tracking Control for a Nonholonomic Mobile Robot under ROS" (2018, 15 citations), established a foundation for deploying sophisticated control algorithms on accessible ROS-based platforms such as the TurtleBot. Building on this, he extended these principles to multi-robot coordination, developing leader-follower formation frameworks that convert complex formation problems into tractable tracking problems, as demonstrated across several publications accumulating over 20 combined citations. Beyond pure control theory, Besseghieur has tackled real-world integration challenges, including industrial sorting applications using robotic arms and vision systems, TCP/IP-based robot cooperation, and the critical issue of communication time delays in decentralized swarm architectures. His 2024 work incorporating artificial potential fields and PSO algorithms highlights his continued evolution toward intelligent autonomous planning. With a citation profile spanning foundational control theory to applied industrial robotics, his research serves as a practical bridge between theoretical robot control and deployable real-world systems.

Research Focus

Key Achievements

Top Papers

1. 1
   Trajectory tracking control for a nonholonomic mobile robot under ROS

   15 citations · 2018
2. 2
   Integration of robotic arm and vision system with processing software using TCP/IP protocol in industrial sorting application

   12 citations · 2019
3. 3
   From Trajectory Tracking Control to Leader–Follower Formation Control

   11 citations · 2020
4. 4
   Leader-follower formation control for a group of ROS-enabled mobile robots

   9 citations · 2019
5. 5
   Trajectory Planning for Autonomous Formation of Wheeled Mobile Robots via Modified Artificial Potential Field and Improved PSO Algorithm

   7 citations · 2024
6. 6
   The effects of the swarm configuration and the obstacles placement on control signals transmission delays in decentralized ROS-embedded group of mobile robots

   6 citations · 2018
7. 7
   Multi-robot Control via Smart Phone and Navigation in Robot Operating System

   5 citations · 2017
8. 8
   The effect of control signals time delays on the trajectory of a dispersed group of robots

   2 citations · 2018
9. 9
   Study of the 3D scanning accuracy using industrial robot

   2 citations · 2018
10. 10
    Industrial and ROS-enabled mobile robots cooperation

    2 citations · 2018

Key Collaborators

Contact & Links