My research focuses on dynamic systems and its application to robotics and oceanography. This research includes control systems, parameter identification, state estimation, autonomy, multi-robot systems, and sensor development. Of particular interest are technologies that enable marine robots to obtain previously unavailable measurements and increase the efficiency with which data are collected. My research employs the methodology of:
- collaborating with the engineering and oceanographic community to identify relevant state estimation and parameter identification problems;
- applying my background in systems theory, sensors, field robotics, and oceanography to develop novel analytical solutions to these problems;
- experimentally evaluating, in the laboratory and at sea, methodologies that advance the capabilities of underwater robots and improve our knowledge of oceanographic processes.
Much of my research transitions to operational robotic systems, such as the Sentry autonomous underwater vehicle (AUV) and the Nereus hybrid remotely operated vehicle (HROV).
Current projects include the development of in-situ calibration techniques for navigation sensor calibration, dynamic model-based nonlinear state estimators for underwater robot navigation, coordinated multi-robot operations, and developing new accelerometers for inertial navigation and gravity measurements.