Robotics

Developing control algorithms that simulate the flocking behavior of Boids.

Finding desired joint angles in trajectory tracking problems with inverse kinematic control.

Developing algorithmic components for autonomous mobile robot integration.

Optimizing trajectories of a spaceship hitting a target and orbiting a planet in a space gravity field.

Developing nonlinear control of position and yaw angle for quadrotor systems.

Comparing computational complexity of deriving the optimal cost and control policy using value iteration, policy iteration and linear programming algorithms in a discrete infinite horizon setting.

Developing an appropriate chordwise stiffness distribution along a bio-inspired tail for amphibious robot systems which maximizes the propulsion generated under a combined movement of both passive heaving and pitching.