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Autonomous Navigation: Motion planning and real-time control for ground and air vehicles. The CASC project is developing reliable autonomy for agricultural applications. The Aeroscout project is developing collision avoidance for air vehicles at various scales.
Coordinated Multi-Robots: This theme examines tasks such as assembly of structures that can't be conducted by single robots. The Trestle project is developing motion planning and architectures that enable teams of robots and humans to operate efficiently and reliably. The Ember project is developing control for multi-robots that assist humans in search and rescue scenarios.
Forceful Interaction with the world: I am interested in a class of tasks in which the interaction between a robot and the world is complex and involves large forces. The approach is to select optimal actions using physical models of the interaction, thereby making the machines more capable.
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SAE INTERNATIONAL JOURNAL OF AEROSPACEno. 3 (2023): 325-335
2021 IEEE AEROSPACE CONFERENCE (AEROCONF 2021)pp.1-10, (2021)
The 12th International Conference on Field and Service Robotics (FSR), Tokyo, Japan (2019)
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