Assoc. Professor E-mail: gregor[dot]klancar[at]fe[dot]uni-lj[dot]si Tel: +386 (0)1 4768-764 Room no.: BN212

I received the B.Sc. and Ph.D. degrees in 1999, and 2004, respectively, from the Faculty of Electrical Engineering of the University of Ljubljana, Slovenia. My research interests are autonomous mobile robots, their motion control, trajectory tracking, path planning, localization, agent-based behaviour systems and supervision of multiagent systems.  
 
Bibliography.  
 
Some interesting links:  
- Robot Simulator  
- Optimal collision avoidance between multiple mobile robots  
- Control algorithm for mobile robots platoon

Selected references:

• J. Baumgartner, T. Petrič, G. Klančar. Potential Field Control of a Redundant Nonholonomic Mobile Manipulator with Corridor-Constrained Base Motion. Machines MDPI, vol. 11, no. 2, 293, 2023.
• Gregor Klančar, Marija Seder, Sašo Blažič, Igor Škrjanc, and Ivan Petrović. Drivable path planning using hybrid search algorithm based on E* and Bernstein-Bezier motion primitives. IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS: SYSTEMS, 2019.
• KLANČAR, Gregor, BLAŽIČ, Sašo. Optimal constant acceleration motion primitives. IEEE Transactions on Vehicular Technology, DOI: 10.1109/TVT.2019.2927124, 2019.
• ŠKRJANC, Igor, KLANČAR, Gregor. A comparison of continuous and discrete tracking-error model-based predictive control for mobile robots. Robotics and autonomous systems, vol. 87, pp. 177-187, 2017.
• KLANČAR, Gregor, ŠKRJANC, Igor. Evolving principal component clustering with a low run-time complexity for LRF data mapping. Applied soft computing, Vol. 35, pp. 349-358, 2015.
• KLANČAR, Gregor, TESLIĆ, Luka, ŠKRJANC, Igor. Mobile-robot pose estimation and environment mapping using an extended Kalman filter. International Journal of Systems Science, DOI 10.1080/00207721.2013.775379, 2013.
• BLAŽIČ, Sašo, MATKO, Drago, RODIČ, Tomaž, DOVŽAN, Dejan, MUŠIČ, Gašper, KLANČAR, Gregor. The design of observers for formation-flying control. Acta Astronautica, Vol. 82, No. 1, pp. 60–68, 2013.
• KLANČAR, Gregor, BLAŽIČ, Sašo, MATKO, Drago, MUŠIČ, Gašper. Image-based attitude control of a remote sensing satellite. Journal of Intelligent & Robotic Systems, Volume 66, Number 3 (2012), 343-357, DOI: 10.1007/s10846-011-9621-1, 2012.
• G. Klančar, D. Matko, S. Blažič. A Control Strategy for Platoons of Differential-Drive Wheeled Mobile Robot. Robotics and Autonomous Systems, Volume 59, Issue 2, February 2011, Pages 57-64, 2011.
• KLANČAR, Gregor, ŠKRJANC, Igor. A case study of the collision-avoidance problem based on Bernstein-Bézier path tracking for multiple robots with known constraints. Journal of Intelligent & Robotic Systems, 2010.
• GUECHI, El-Hadi, LAUBER, Jimmy, DAMBRINE, Michel, KLANČAR, Gregor, BLAŽIČ, Sašo. PDC control design for non-holonomic wheeled mobile robots with delayed outputs. J. intell. robot. syst., 2010, Volume 60, Numbers 3-4, pp. 395-414, doi: 10.1007/s10846-010-9420-0, 2010.
• Teslić, L., Škrjanc, I., Klančar, G.. EKF-Based Localization of a Wheeled Mobile Robot in Structured Environments. Journal of Intelligent & Robotic Systems, DOI 10.1007/s10846-010-9441-8, 2010.
• Teslić, L., Škrjanc, I., Klančar, G.. Using a LRF sensor in the Kalman-filtering-based localization of a mobile robot. ISA Transactions 49 (2010) 145-153, 2010.
• Škrjanc, I., Klančar, G.. Optimal cooperative collision avoidance between multiple robots based on Bernstein-Bézier curves. Robots and Autonomous Systems, vol. 58, no. 1, pp. 1-9, 2010.
• Klančar, G., D. Matko, S. Blažič. Wheeled Mobile Robots Control in a Linear Platoon. Journal of Intelligent and Robotic Systems, vol 54, no. 5, pp. 709 - 731, 2009.
• KLANČAR, Gregor, ŠKRJANC, Igor. Discussion on: "Optimality properties and driver input parameterization for trail-braking cornering".. European journal of control, vol. 14, 4, pp. 321-326, 2008.
• Teslić, L., Klančar, G., Škrjanc I.. Simulation of a mobile robot with an LRF in a 2D environment and map building. Lecture notes in control and information sciences, str. 239-246, ilustr., 2007.
• Klančar, G., B. Zupančič, R. Karba. Modelling and Simulation of a Group of Mobile Robots. Simulation Modelling Practice and Theory, vol. 15, no. 6, pp. 647-658, 2007.
• Klančar, G., I. Škrjanc. Tracking-error model-based predictive control for mobile robots in real time. Robotics and Autonomous Systems, vol. 55, no. 6, pp. 460-469, 2007.
• Klančar, G., M. Kristan, S. Kovačič, O. Orqueda. Robust and efficient vision system for group of cooperating mobile robots with application to soccer robots. ISA Transactions, vol. 43, pp. 329-342, 2004.
• Klančar, G., M. Kristan, R. Karba. Wide-angle camera distortions and non-uniform illumination in mobile robot tracking. Robots and Autonomous Systems, vol. 46, no. 2, pp. 125-133, 2004.
• Klančar, G., M. Lepetič, R. Karba, B. Zupančič. Robot soccer collision modelling and validataion in multi-agent simulator. Mathematical and Computer Modelling of Dynamical Systems, vol. 9, no. 2, pp. 137-150, 2003.
• Lepetič, M., G. Klančar, I. Škrjanc, D. Matko, B. Potočnik. Time optimal planning considering acceleration limits. Robotics and Autonomous Systems, vol. 45, pp. 199-210, 2003.
• Klančar, G., Đ. Juričić, R. Karba. Robust fault detection based on compensation of the modelling error. International journal of Systems Science, vol. 33, no. 2, pp. 97-105, 2002.
• KLANČAR, Gregor, ZDEŠAR, Andrej, BLAŽIČ, Sašo, ŠKRJANC, Igor. Wheeled mobile robotics : from fundamentals towards autonomous systems. Oxford; Cambridge (MA): Butterworth-Heinemann, cop. 2017. IX, 491 str., ilustr. ISBN 978-0-12-804204-5., 2017.
• G. Klančar, M. Brezak, D. Matko, I. Petrović. Mobile robots tracking using computer vision. Automatika, vol. 46, no. 3-4, pp. 155-163, 2005.
• M. Lepetič, G. Klančar, I. Škrjanc, D. Matko, B. Potočnik. Path planning and path tracking for nonholonomic robots. In: Liu, John X. (ed.). Mobile robots : new research. New York: Nova Science, cop. pp. 341-364, 2005.
• G. Klančar, M. Lepetič, M. Kristan, R. Karba. Vision system design for mobile robot tracking. In: Liu, John X. (ur.). Mobile robots : new research. New York: Nova Science, cop. pp. 117-141, 2005.
• Klančar, G., D. Matko, S. Blažič. Mobile robot control on a reference path. Proceedings of the 2005 IEEE International Symposium on Intelligent Control and 2005 Mediterranean Conference on Control and Automation, June 27-29, 2005, Limassol - Cyprus, pp. 1343-1348, 2005.

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