We built this:

Motion Planning. Vehicle dynamics modeling and control. GPS/INS/Lidar navigation and state estimation.

• World’s First Fully-operational Autonomous Drone Delivery Service – Technical lead over guidance and flight control, all-weather precision delivery and recovery, GPS/INS navigation, state estimation, fault tolerance, high-speed robotic recovery system.

• XV-24A Lightning Strike VTOL X-Plane – Technical lead over Guidance and Control algorithms for exotic unconventional aircraft with high-dimensional actuation.• Orion Long-Endurance Unmanned Aircraft – Technical Lead over Guidance and Control SW subcontract. Provided technical direction and oversight. Defined detailed requirements and models. Evaluated subcontractor subsystem test plans and results. Co-developed flight test plans, led troubleshooting of controls issues, and defined G&C design iterations. Direct interface with Air Force customer.• Shipboard Helicopter Landing System – Patented. Invented system and algorithms that enable helicopter to automatically approach and land on ship without use of GPS and using only airborne sensors (radar, lidar, and IMU).• Multi-UAV Sensor Fusion – Developed vision-based target tracking and path planning by multiple small UAVs fusing computer vision, GPS/IMU navigation and estimates with other UAVs in a team. • Aircraft Health Management – Developed estimation of structural and engine degradation using standard navigation and engine control sensors and adaptive model-based estimation algorithms.

• Falcon Hypersonic Technology Vehicle – Invented LQR/Hinf-Based Automated Gain Optimization, Ballistic-Convergence Climb Algorithm, and Partitioned-Matrix Multiple-Delayed-State GPS/IMU Navigation Kalman Filter. Developed Navigation Covariance Analysis software.• LETB2 Maneuvering Reentry – Planned and developed budget and schedule. Directed development efforts from algorithm design to test on flight hardware. Negotiated schedules, requirements, and responsibilities with co-contractor. Direct interface with Navy customer.• Space-based Infrared System (SBIRS) – Developed tracking and discrimination algorithm using Probabilistic Argumentation Belief Representation applied to infrared computer vision and radar data.• Multiple-Kill Missile – Developed object-oriented implementation of computer-vision-based multiple-target tracking algorithm fusing IR camera with GPS/IMU navigation system and ground-based radar data.

Stanford, Graduate Student Researcher, 2000-2002• Binary-feature SLAM – Developed SLAM algorithm that is optimized for environments with binary features such as doors or parking spaces. Demonstrated on LIDAR/odometry robot. Published "A Probabilistic Technique for Simultaneous Localization and Door State Estimation with Mobile Robots in Dynamic Environments", IROS 2002.

• Milstar Satellite – Developed attitude determination and control system.

• Automated Highway System - Developed steering and speed control systems for self-driving car. Implemented and tested on full-scale Buick LeSabre. Published "Lateral and Longitudinal Vehicle Control Coupling for Automated Vehicle Operation", ACC 1999.