Area of Expertise
- Geometric mechanics and its applications to robotics and control
- Geometric control of nonlinear systems
- Geometric observer design for nonlinear systems
- Guidance, navigation and control of aerospace vehicles
- Dynamics and control of autonomous vehicles
Publications
About
My research develops technologies that increase the safety and reliability of autonomous vehicles and robots working alongside humans. As the roles and uses of robots and autonomous vehicles are growing and expected to grow over the next several years, we need to ensure that they are safe and reliable when deployed for tasks benefitting human society. This is accomplished through design of nonlinearly stable and robust onboard guidance, navigation and control schemes that can be implemented onboard resource-constrained robotic platforms, using commercially available sensors and onboard processors. Research investigations undertaken in my lab include: (1) motion and relative motion estimation of autonomous unmanned aerial and ground vehicles, (2) data-enabled robust and stable control of single and multiple autonomous unmanned vehicles, and (3) spacecraft guidance, navigation and control for Earth-orbiting and deep space missions.
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