Graduate Coupled Task Assignment for Hierarchical Multi-Agent Systems A coupled task assignment framework for hierarchical multi-agent systems with applications to disaster response using aircraft and drone fleets. Game-Theoretic Autonomous Driving via Graphs of Convex Sets A framework for solving autonomous driving problems using graphs of convex sets and iterative best response. Covariance Steering via System Level Synthesis Steering a team of agents with stochastic dynamics from an initial Gaussian distribution to a final one under communication delays. Personal locknclock a minimalist focus timer and micro-journal that helps you timebox work. Outvite A software startup that I co-founded which helps groups find (and agree on) something memorable to do together. Undergraduate iLQGameSolver.jl iLQGameSolver is a julia package for solving differential games with nonlinear players using iterative linear quadratic approximations. ALMPC.jl ALMPC is a Primal-Dual Augmented Lagrangian QP solver for MPC problems. The package is written in Julia. EKF & LQR for Mobile Robot Trajectory Tracking Extended Kalman Filter (EKF) and Linear Quadratic Regulator (LQR) implementations on a mobile Robot for improved trajectory tracking. FMPC for Quadcopter Trajectory Tracking Flatness-based Model Predictive Controller (FMPC) for quadrotor trajectory tracking. IMU-based 6 DOF Robot Arm Controller An IMU-based 6 DOF robot arm controller as part of NASA's ULI project. Autonomous Handvalve Stem Assembly Automated Parker Hannifin's handvalve stem assembly line using a GoFa robotic arm, presses, grippers, feeding systems, and sensors. Bridge Design Optimization Optimizing the truss design of a 2D bridge in MATLAB. Gamma Configuration Stirling Engine Redesign and fabrication of Gamma configuration Stirling Engine running on a 20C temperature differential.
