Active Projects

(Updated May 2023)

1) Rapid Operator Awareness with Mobile Robotics (ROAMR)

This project seeks to combine mobile sensors with wearable robots to enhance human performance in unstructured environments.  This project is in collaboration with Dr. Aaron Young and the Georgia Tech EPIC lab. Graduate Students: Carlos Carrasquillo, Divya Iyengar.

2) Motion Planning for Aggressive Aerial Vehicles

This project explores how motion plans can be generated using discrete libraries of primitives.  We seek to examine the performance and applicability of primitive-based techniques by using machine learning methods and expert knowledge. Graduate Students: Kevin Choi, Zachary Goddar

3) Autonomous Drilling for Geothermal Energy

This project develops sensing, control, and mechatronics for intelligent Geothermal well drilling.  Such systems must operate under harsh conditions deep beneath the earth.  This project is in collaboration with Dr. Byron Boots at the University of Washington and Dr. Jiann Su and Dr. Stephen Buerger at Sandia National Laboratories. Graduate Students: Kevin Choi.

4) Intelligent Control of Biological Processes

This project utilizes control and estimation theory to improve the yield of complex and fragile biological systems.  This project combines surrogate experiments with model development and controller design.  This project is in collaboration with Dr. Stephen Balakirsky and the Georgia Tech Research Institute. Graduate Students: Bharat Kanwar.

5) Antro-Robotic Squadron for Efficient Navigation and Localization (ARSENAL)

Workers are required to carry or wear heavy equipment in industrial, agricultural, and military jobs. This project seeks to provide a UGV teammate capable of identifying human targets, following desired paths to a target, and offloading weight from a human teammate. Additionally, this project investigates the energetics and performance of the human-robot team during transportation tasks. Graduate Student: Joshua Fernandez

6) Multi-Fidelity Aero Modeling

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This project seeks to leverage machine learning methods to improve the capabilities of aerodynamic modeling of aerial vehicles. This project is in collaboration with GTRI, Ben T. Zinn Combustion Laboratory, and Sandia National Laboratories. Graduate Student: Trevor Matteson.

Completed Projects

1) Robot Integrated Pallet System (RIPS)

This project aims to enhance military logistics through robotic construction of palletized loads.  This project is in collaboration with Dr. Stephen Balakirsky and the Georgia Tech Research Institute. Graduate Student: Raymond Kim.

2) Adaptive Ground Locomotion

This project seeks to combine adaptive algorithms with morphological adaptation. Specifically, we are studying ways to modulate vehicle physical properties in order to maximize their autonomous performance on diverse terrain. Specifically, we investigate how to enhance vehicle mobility and their ability to transport heavy payloads. This project is in collaboration with Dr. Byron Boots at the University of Washington. Graduate Students: Raymond Kim, Joshua Fernandez, Adam Foris.

3) Exploiting Smart Mechanics for Manipulation

This project examines novel approaches to mobile manipulation design.  Methods currently under study include bistable mechanisms and controllable chemical adhesion. Graduate Students: Kevin Choi, Zachary Goddard.

4) Human Machine Collaboration for Manufacturing

This project leverages human abilities and wearable sensing to assist in complex manufacturing tasks.  We combine hardware development with novel cooperative control algorithms. Graduate Student: Andrew Namgoong, Hogan Welch.

5) Multi-functional Drone Landing Gear and Docking Station for Robust Perching and Autonomous Charging

Unmanned aerial vehicles (UAVs) can positively impact a variety of fields including agriculture, environmental monitoring, disaster response, and national security. However, UAV performance is fundamentally limited by battery life. Recharging often requires returning to a fixed base and physically changing the battery. However, this paradigm is restrictive, time-consuming, and human-labor intensive. This project provides a novel multi-functional docking station system and landing gear that can enable diverse missions. Specifically, this system facilitates quadcopter landing on a platform, provides strong attachment to handle disturbances, and enables autonomous recharging. This project is in collaboration with Dr. Jonathan Rogers and is a subject of continued research in his lab. Graduate Students: Joshua Fernandez.

6) Previous Research