Yu. N. Zolotukhin

Institute of Automation and Electrometry, Russian Academy of Sciences

Papers

Total Citations

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About

Yu. N. Zolotukhin is a leading researcher in the field of mobile robotics, with a primary focus on the decentralized control and formation management of nonholonomic mobile robots. His work centers on solving the complex challenge of enabling multiple robots to move cohesively in leader-follower formations without relying on centralized supervision. Zolotukhin’s major contributions include the development of a structural synthesis method for robust formation control, which allows follower robots to determine their control inputs using only relative position data, eliminating the need for global communication. He has also pioneered the use of sliding mode control to ensure stable trajectory tracking in formation, even under dynamic conditions. His research further addresses practical issues such as transportation lag correction and the effects of wheel slippage and surface roughness, which limit the applicability of conventional algorithms. With over a dozen citations across his most-cited works, Zolotukhin’s impact is evident in the continued relevance of his control strategies for autonomous multi-robot systems. His 2015 paper on robust leader–follower control remains a key reference for engineers designing resilient, scalable robotic teams for applications in exploration, surveillance, and automated logistics.