Published
Depth & pitch control near the surface
Track a commanded depth while reducing unnecessary actuator activity in waves.
Selected engineering & research
From robot design
to autonomous motion.
I work on control, motion planning and learning for autonomous vehicles, building on a background in industrial robot design.
Featured / Underwater autonomy
Follow the depth command.
Let the waves pass.
Three chapters of work.
Browse by research setting and career stage.
Project notebook.
Published studies, experimental work and a look at the questions I’m exploring next.
10 projects shown
Published
Depth & heading control for AUVs
Reach a new depth and heading while working within the vehicle’s actuator limits.
Accepted
A planner for constrained flight
Guide a small drone toward a commanded target through a space with obstacles.
Under review
Flight under changing conditions
Return to a commanded position despite airflow and changes in carried mass.
In development
Offline RL tuning for AUV control
Use offline reinforcement learning to select controller settings for depth and heading maneuvers.
In development
Learning a dynamics correction for MPC
Learn a reusable model correction and investigate a validated handover from adaptive support to learned predictive control.
Research collaboration
Multi-drone inspection at MERL
Bring coordinated inspection missions into a real-drone experimental pipeline.
Industry experience
Industrial robotics & team leadership
Lead the mechanical development of industrial robotic systems.
Industry experience
Gantry & Delta robot development
Develop robot mechanisms and evaluate how they move and carry load.
Industry experience
Robot mechanisms & mechanical design
Build a foundation in the mechanical design and analysis of robotic systems.
The path here
Built on engineering experience.
2016–2018
Severstal-Ropes
Mechanical design of Delta and articulated robotic systems.
2018–2019
Techprom
Gantry and Delta robot development, CAD and simulation.
2020–2022
Original-group
Led a 24-person mechanical engineering team.
2023–PRESENT
University of Iowa
PhD research in autonomous systems, with a MERL internship in 2025.