projects

ADMM-based Optimal Control for Quadrotor Dynamics with Air Drag

This project at the University of Pennsylvania's GRASP Lab involves advanced control techniques for quadrotors considering air drag. The focus is on applying Alternating Direction Method of Multipliers (ADMM) for optimal control in dynamic environments with air drag factors.

Drag-Aware Trajectory Generation for Quadrotor Systems

Trajectory generation for quadrotor systems with explicit drag-aware modeling and optimization.

F1TENTH Autonomous Perception & Navigation

Perception and navigation methods for F1TENTH autonomous racing platforms.

Model Predictive Control (MPC) for Autonomous Racing Cars

This project at the University of Pennsylvania's xLAB involves applying Model Predictive Control (MPC) techniques to improve performance and safety in autonomous racing cars. The project explores advanced MPC algorithms for dynamic and high-speed autonomous driving.

Coordination-Aware Modeling for Four-Limb Human-Robot Manipulation

Coordination-aware modeling and uncertainty-aware assistance for four-limb human-robot manipulation at EPFL LASA.