Featured Highlights

Biologically-Inspired Terrain-Based Localization

For millions of years, our ancestors kept track of their location and orientation by looking at invariant features in far distance. The same method is used here as a means to estimate a vehicle's orientation in space, for example matching a real image (above left) to a virtual one (above right). These estimates are important because several key chassis instabilities of a  vehicle, namely sliding and rollover, require accurate knowledge of a vehicle's angular orientation in space.

See my Research page for more information.

Terrain-Aware Robotics

High-speed operation of autonomous mobile robots is challenged by the impact of terrain features on the dynamics and stability of the chassis. This video shows a new tank robot platform, the Tankbot, that is currently being used to study high-speed dynamic models, human-vehicle interaction, and autonomous and driver-assist control of these vehicles. See my Research page for more information.
[AVI 15Mb] [WMV 2Mb]