Recent research:
This body of work advances marine robotics and social human–robot interaction through the development of open-source simulation tools, novel control strategies, and education-focused studies. In surface robotics, the author extends a high-fidelity VRX-based framework with a calibrated USV model (monohull kayak-type, four-thruster differential propulsion), integrating realistic dynamics and sensor data. Model-based controllers (velocity, position, trajectory tracking, and path guidance) are validated under diverse wave and wind conditions, yielding a reproducible resource for education, perception, and advanced control in marine environments. Other studies address mobile robot control under social and practical constraints: an inverse-kinematics-based, time-invariant controller for person-following demonstrates robust performance with velocity modulation; a socially-aware follow behavior combines visual sensing (RGB-D) and proximity data with Lyapunov-based stability proofs, enhanced by real-time skeletal tracking, speech, and SLAM components to support safe, acceptable navigation around humans. Additional work examines trajectory tracking for car-like robots with planning-aware steering limitations, ensuring effective control even when the target reference lies outside the robot’s body. Collectively, the research contributes both theoretical control results and application-oriented validation across robotics, control systems, perception, and human–robot collaboration, with a strong emphasis on openness, education, and realistic deployment scenarios.