projects

A collection of projects I have worked on

research
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NSF Graduate Research Fellowship

My annual updates for the NSF GRFP
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Clarity-Driven Adaptive Mission Planning for a Solar-Powered Autonomous Surface Vessel

An energy-aware ergodic search framework that optimizes trajectory and speed using a mathematically grounded information metric (clarity) for long-duration marine missions.
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Optimally Trading Energy for Information through Speed Trajectory Optimization of Sustainably Powered Mobile Robots

Characterizing energy-information tradeoffs in a periodic optimal control setting
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Physics-Informed Neural Network-Based Persistent Optimal Control of Sustainably Powered Mobile Robots

Using PINNs to learn infinite-horizon value functions

coursework
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Stochastic Gatekeeper: Online Safety Verification

Sampling-based safety verification for nonlinear robots operating under uncertain disturbances.
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Path Planning for Wave-Powered Desalination

Comparing genetic algorithms and reinforcement learning for a mobile wave-powered freshwater system.
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Modeling and Control of an Autonomous Sailboat

Wind-aware waypoint navigation using a hierarchical controller and a genetic-algorithm comparison.

fun
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Computer Vision-Aided Robotics

For the 2020 FIRST Robotics competition, my team wanted to develop a mechanism to shoot foam dodgeballs into a target placed over 10 feet above the ground. In order to ensure the robot would be accurate when shooting, we developed a computer-vision system that would autonomously determine the appropriate parameters necessary for the shooter mechanism to shoot the balls into the target.