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)
Recent News
Recent 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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Probabilistic Qualitative Relational Mapping for Robots. International Conference on Robotics and Automation. 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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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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X-ray computed tomography uncovers root-root interactions: quantifying spatial relationships between interacting root systems in three dimensions. Name: Frontiers in Plant Science. 2015;6:274. .
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 |