R. W. Mayne

University at Buffalo, State University of New York

Papers

Total Citations

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About

R. W. Mayne’s research focuses on the intersection of robotics, motion planning, and mechanical control systems, with a particular emphasis on collision avoidance and actuator dynamics. His most influential work, "Distance Calculations in Motion Planning Problems With Interference Situations" (1990, 12 citations), provides a foundational method for computing distances between convex polyhedra—a critical step for ensuring safe robot navigation in cluttered environments. By representing objects as intersections of half-spaces, Mayne enabled efficient, mathematically rigorous interference checks that underpin modern path-planning algorithms. In a complementary study, "Motor characteristics in the control of a compliant load" (1986, 8 citations), he explored the nuanced interaction between DC motors and flexible mechanical loads, modeling compliance as a spring to improve servo control performance. This work offers dimensionless parameters that help engineers design more stable and responsive robotic systems. Mayne further advanced the field with "An Approach to Dynamic Distance Calculations for Obstacle Avoidance Problems" (1991), which introduced a quadratic programming method combined with swept volumes to handle moving obstacles. Though modest in citation count, this paper foreshadowed later developments in real-time collision avoidance. Together, Mayne’s contributions provide essential tools for both static and dynamic motion planning in robotics.