My research group works in the area of estimation theory and control for autonomous and semi-autonomous systems, with a special emphasis on robotics and aerospace applications. Specific research areas include sensor fusion and probabilistic perception, control and planning in the presence of uncertainties, human decision modeling, and human-robot interaction.
I co-direct the Autonomous Systems Lab with Prof. Hadas Kress Gazit. The ASL wiki includes most of the hardware and undergraduate/Masters of Engineering projects, whereas this wiki focuses on the research of my group.
Research Projects
- Qualitative Relational Navigation using Minimal Sensing (NSF)
- Perception/Control/Reconfig for Modular Robots (NSF CPS)
- Probabilistic Tracking/Planning in Autonomous Vehicles (ARO)
- Distributed Sensing, Learning and Control (NSF CPS)
- Intelligent Planning for Sensing and Info Collection (AFOSR)
- Modeling in Large Human-Machine Networks (AFOSR MURI)
- Integrated Perception+Planning Intelligent Robots (NSF CPS)
- Hybrid Relational Mapping For Autonomous Navigation (JPL)
Research Group
- Mark McClelland, Post-Doc
- Jordan Chipka, AE Ph.D. Student
- Jonathan Daudelin, ME Ph.D. Student
- Jessica Gregory, ME Ph.D. Student
- Jennifer Padgett: ECE Ph.D. Student
- Alex Ivanov: ECE Ph.D. Student
- Lucas de la Garza: ME Ph.D. Student
- Rina Tse: ME Ph.D. Student
- Kevin Wyffels: ME Ph.D. Student
- Daniel Lee: ME Ph.D Student
- Peter Radecki: ME Ph.D. Student (co-advised with B. Hencey)
- Frank Havlak: ME Ph.D Student
Recent News
Please congratulate Frank on passing his B-exam. As Frank heads off to Tesla, we are left to ponder this key question: which car(s) are my former students going to get me? Tesla, Nissan/Infinity, or VW? I vote for the Tesla...
Please congratulate Kevin and Rina for passing their A-exams - just "a bit" more work to go!
Please congratulate Mark M for passing his B-exam. A few final edits and he is home free. Mark will be staying on for a few months with the group. 
Nisar starts his life as a professor at CU Boulder today - we will miss him, and look forward to his successes. Recent Publications
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. Joint tracking and non-parametric shape estimation of arbitrary extended objects. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Seattle, Washington: IEEE; 2015.
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. Smoothing Algorithm for Nonlinear Systems Using Gaussian Mixture Models. Journal of Guidance, Control, and Dynamics [Internet]. American Institute of Aeronautics and Astronautics; 2015;. http://dx.doi.org/10.2514/1.G000603
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. Negative Information For Occlusion Reasoning In Dynamic Extended Multi-object Tracking. IEEE Transactions on Robotics. 2015;:1-17.
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. Automated aortic calcification detection in low-dose chest CT images. In SPIE Medical Imaging. International Society for Optics and Photonics; 2014. p. 90350P–90350P.
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. Negative Observations for Multiple Hypothesis Tracking of Dynamic Extended Objects. In Proceedings of the American Control Conference (ACC). 2014.
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. Qualitative Relational Mapping for Planetary Rover Exploration. In AIAA Guidance, Navigation and Control Conference [Internet]. 2013. http://arc.aiaa.org/doi/pdf/10.2514/6.2013-5037
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. Modeling and Fusing Negative Information For Dynamic Extended Multi-object Tracking. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2013. pp. 3176-3182.
| Office: 105 Upson Hall Ithaca NY 14853 (607)255-4268 mc288 AT cornell.edu |
Admin Assistant: Virginia McAuley 105 Upson Hall (607)255-3623 vig1 AT cornell.edu |
Lab: Autonomous Systems Lab (ASL) 155 Rhodes Hall Ithaca NY 14853 (607)255-4709 |