Published
Depth & pitch control near the surface
Track a commanded depth while reducing unnecessary actuator activity in waves.
University of Iowa · 2023–present
PhD research
Underwater control, aerial planning and learning for robots in changing environments.
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.