Thesis: Efficient and Reconfigurable Approximate Value Functions for Task Scheduling, Path Planning, and Control.Multi-Robot Systems LabOut of Distribution Detection for Image-Based Systems Modeled in the Latent Space- Developed a method for OOD detection to use when planning in the latent space of a learned model using an autoencoder self-consistency metric.- Works alongside previous work on graph-based methods.Path Planning and Control using Learned Dynamic System Models - Worked on tree- and graph-based algorithms to build value functions for and to control systems whose dynamics are treated as a black box. This allows the methods to be applied to learned models of the systems without needing physics equations.Task Scheduling - This work focused on the persistent surveillance problem, which requires drones to monitor a region while intelligently charging, enabling long-term coverage. The problem has direct applications to autonomous taxis and warehouse management. - Developed an algorithm that reduced the problem to a tractable system to achieve near-optimal performance, giving greater than 10x time improvement over optimal methods while significantly outperforming heuristic-based methods.

AA 212 Advanced Feedback Control Design

AA 212 Advanced Feedback Control Design

AA212 Advanced Feedback Control Design

AA273 State Estimation and Filtering for Aerospace Systems

Composites Research LabHydraulic Artificial Muscles - Built a starfish-like arm that used artificial muscles driven by water and designed a controller that was able to position the end-effector despite highly nonlinear dynamics. - Part of a multi-university effort to design a robot to perform underwater tasks. - Repurposed an espresso machine's pump to drive the muscles, providing further evidence of the value of coffee in research.

Collective Dynamics and Control LaboratoryFlexible Fish Robot - Designed and assembled the hardware for a flexible fish-like robot driven by a reaction wheel. - Used 3D modeling for the robot and built test apparatus.Flow Sensing - Created apparatus to generate vortices in water. - Used computer vision to track the flow.

ENAE432 Control of Aerospace Systems

Collective Dynamics and Control Laboratory