Research

Research Interests

I am interested in optimization-based motion planning and control for mobile robots and multi-agent systems.

Mobile Robotics

• How can we leverage both internal disturbances (e.g., wheel slip, actuator dynamics) and external disturbances (e.g., terrain slope, wind, vibrations) to enhance robot motion rather than simply compensating for them?
• Physics informed neural networks to not just solve the eikonal euqations but also to learn the physics of the environment and act accordingly

Multi-Agent Systems

• How can we design optimization frameworks for multi-agent systems that go beyond traditional objectives like goal achievement, cost minimization, and energy efficiency to also optimize for system-level metrics such as traffic flow and deadlock avoidance?
• Active time fields in multi agent systems