I graduated from the Northwestern University with a M.S. in Robotics and the University of Colorado with a B.S. in Mechanical Engineering. Most recently I have been developing a ROS exploration package that utilizes receding horizon trajectory optimization.
During my undegraduate degree I was a research assistant in the Autonomous Robotics and Perception Group (ARPG Lab) advised by Chris Heckman. I worked on developing vehicle models and control algorithms (i.e. model predictive control and model predictive path integral control) capable of maneuvering a 1/9th scale robot car (nicknamed Ninja Car). The goal was for the car to perform dynamic maneuvers such as drifting, jumping, and driving on a quarter pipe. I was then a member of Team Marble (Multi-agent Autonomy with Radar-Based Localization for Exploration), which was part of the ARPG lab, working on the DARPA Subterranean Challenge. My role was to prepare the Ninja Cars for the Tunnel Event in Pittsburgh August 15-22, 2019. I was responsible for multi-sensor fusion for perception, and planning and control solutions. I am now pursing a M.S. in Robotics as Northwestern University.
Research Interests:
- Legged Locomotion
- Optimal Control and Trajectory Optimization
- Exploration
- Active SLAM