Globally-valid geometric models, dynamic motion planning, and geometric control for aerial robot teams with a shared suspended payload.
Generalize succesful control methdologies from bipedal robots to prostheses and exoskeletons to acheive dynamic, stable, and safe locomotion.
Advance stable Lyapunov-function based controllers along the three axes of constraints, model uncertainty, and safety-critical constraints.
3D nonholonomic geometric models, dynamically feasible motion planning, and geometric controllers for ballbot teams.
Control design that preserves the natural compliant-dynamics of the system, leading to stable, efficient, and fast walking and running.
Trajectory planning for robots with topological constraints to enable better coverage for search-and-rescue or survellience problems.
Systematic methods to optimally estimate environmental parametric fields with teams of networked mobile sensors.