Research

This section of my website presents research that I have done or am doing right now. From all the various topics that I have worked on during my undergraduate and graduate education and through various internships, the following two research efforts stand out.

Autonomous Surface Vehicles: The goal of this project is to build and program an autonomous boat to participate in the 5th RoboBoat Competition sponsored by the Association for Unmanned Vehicle Systems International. This competition requires the boat to autonomously navigate a channel marked by green and red buoys, to accomplish missions once the boat reaches the end of this channel, and safely return to the base. Read more…

Self-reconfiguring Robots: The assembly or reconfiguration of simple individual, independent modules into larger, functional robots that can perform tasks such as locomotion or reconfiguration is called self-assembly or self-reconfiguration. My research on self-reconfiguration was part of my Master thesis research for which I developed and implemented a rule-based approach to self-reconfiguration. Read more…

Heterogeneous Self-Reconfiguration: Similar to homogeneous reconfiguration that is discussed in the above project on self-configuring robots, this research effort deals with robots comprised of individual modules. Heterogeneous systems though contain modules with different properties, capabilities, and potentially shape and size. The project description outlines our approach for complete heterogeneous self-reconfiguration. Read more…