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
- Modeling/Verification of Human+Robot Interactions (NSF)
- Safety Assured, Cyber-Physical Systems (NASA)
- 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
- Yutao Han, ME Ph.D. Student
- Brian Wang, AE Ph.D. Student
- Yichen Zhou, ME Ph.D. Student
- Joe Corbett-Davies, ME Ph.D Student
- Jordan Chipka, AE Ph.D. Student
- Jonathan Daudelin, ME Ph.D. Student
- Jennifer Padgett: ECE Ph.D. Student
- Alex Ivanov: ECE Ph.D. Student
- Mike Meller: ME Ph.D. Student (co-advised with E. Garcia)
- Rina Tse: Postdoctoral Research Associate
- Daniel Lee: Postdoctoral Research Associate
Recent News
Link to video 
Kevin successfully passed his B-exam on November 24, and his thesis has been accepted. He is off to Ford and the Autonomous Driving division. We wish him luck in his next adventures. 
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-examsRecent Publications
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. Priority-Based Tracking of Extended Objects. Journal of Advances in Information Fusion. 2017;12(1):1-17.
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. An Efficient Probabilistic Surface Normal Estimator. In 2016 IEEE International Conference on Robotics and Automation (ICRA). 2016.
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. Precision tracking via joint detailed shape estimation of arbitrary extended objects. IEEE Transactions on Robotics [Internet]. 2016;33(2):1-20. http://ieeexplore.ieee.org/document/7786875/
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. Online Model Estimation for Predictive Thermal Control of Buildings. IEEE Transactions on Control Systems Technology [Internet]. 2016;. http://ieeexplore.ieee.org/document/7551202/
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. Probabilistic Qualitative Relational Mapping for Robots. International Conference on Robotics and Automation. 2016;.
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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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. Negative Information For Occlusion Reasoning In Dynamic Extended Multiobject Tracking. IEEE Transactions on Robotics [Internet]. 2015;31(2):425-442. http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=7072560
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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
| 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 |