Research

This project is developing autonomus vehicles to travese unknown terrains on different planes, by propogating the vehicles state and combining phyics informed dynamics with friction estimates.

• ICRA@40 Extended Abstract

This project was testing the efficacy of a physics-informed Koopman Operator, used to estimate non-linear systems, applied a Non-Linear Model Predictive Control (N-MPC).

This project is meant to develop and test innovative robotic mobile manipulation technologies for grapevine winter pruning automation.

• Project Website
• IEEE-ICARSC 2023
• I-RIM 2022

Tandem Rover and Aerial Scrap Harvester (TRASH) is an autonomous heterogenous system which will identify and pick up litter in hard-to-access places.

• RAAI 2023
• DARS 2022 Poster

Visual and Spectral Terrain Classification in Unstructured Multi-Class Environments is a project I was a contributor for that used machine learning to classify terrain types in real time.

• Project Description
• Paper

In response to the COVID Pandemic, Northeastern’s RiVer Robotics Lab Automation of Characterization and Evaluation (ACE) team built an autonomous system to test if manufacturers’ Personal Protective Equipment (PPE) materials pass industry standards.

• IEEE-HST 2022
• Project Description