A hierarchical mechanism capable of 50x expansion ratios enabling kilometer scale structures from a single launch.
A high-speed MPC solver with a low memory footprint that works on microcontrollers common on small robots.
An end-to-end motion transfer framework from monocular videos to legged robots.
Several different state estimation methods for legged robots.
A fully differentiable solver for simulating coupled fluid-robot dynamics
Novel hardware design to enhance quadruped robots
Building new algorithms for learning dynamics models that are sample efficient and generalizable.
Directly optimizing robust policies for feedback motion planning.
Real-time simulation and trajectory optimization for soft robots.
Developing a fast and robust solver for constrained dynamic games aimed at identifying Nash equilibrium strategies.
The CR3BP is a useful model for designing and analyzing spacecraft trajectories that pass between multiple large bodies. We use optimization techniques to find trajectories that meet mission constraints while being dynamically feasible in the CR3BP.
Extending lifetimes of commercial microelectronic devices in harsh radiation environments without additional shielding or device alterations.
Building new solvers for trajectory optimization problems that are fast, accurate, and numerically robust.
Optimizing long duration spacecraft maneuvers for electric propulsion.
Developing algorithms and hardware for underactuated control of small satellites, mainly through trajectory optimization techniques of magnetorquer attitude manipulation.
Scalable Cooperative Transport of Cable-Suspended Loads with UAVs using Distributed Trajectory Optimization
Developing a fast, low memory footprint algorithm to solve minimum-fuel problems with possible implementation onboard a CubeSat for embedded trajectory optimization.
An open-source, radiation-tested reliable cubesat framework programmable entirely in python.
Making things get where they’re supposed to go when we don’t know exactly how they move and what disturbance forces might be pushing on them.
Tiny low-cost satellites made on printed circuit boards