Research

AirLab | Carnegie Mellon University

Estimating Urban Wind Fields Using UAV-Based Measurements | 2020

  • Through real-world experiments we proved our method accurately estimates wind inlet conditions using the wind measurements from a flying UAV.
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Goods Delivery Energy Productivity | 2019 - Present

  • Evaluating the impact of autonomous robots on the energy productivity of package delivery
  • Energy-based flight risk assessment for multirotor UAVs
  • Learning and validating energy models for autonomous robots
  • Learning motion primitives for a UAV to fly in windy urban environments

MAGICC Lab | Brigham Young University

UAV Gesture Commands | 2018-19

  • Designed and trained a model to classify ten gestures with an accuracy of 95% using accelerometer and gyroscope measurements.
  • Designed and tested intuitive gestures and behaviors for natural directing of a fleet of UAVs
  • ICUAS 2019

Multi-Mission Project | 2017-19

  • Developed a search algorithm for cooperating UAVs which maximizes area knowledge and the number of tracked targets using Gaussian process regressions
  • Implemented a Gaussian Mixture Model Kalman filter for more accurate target tracking with heterogeneous sensors
  • ICUAS 2018


Personal Projects

AUVSI Student Unmanned Aerial Systems Competition

  • Developed a robust RRT path planner for the AUVSI SUAS competition. This planner avoided obstacles while minimizing the waypoint capture error through ensuring long straight paths through waypoints.
  • Also fabricated and repaired fixed-wing UAVs, created an image distortion correction program for letter and shape recognition, and many other tasks over the three years on the team.

Autopilot Implementation

  • Implemented the autopilot from Small Unmanned Aircraft: Theory and Practice in Python. This includes controllers, estimators, a path planner, and a path manager.

Twitter Bot

  • Built a bot that tweets the daily average sentiment score of all tweets that mention the US President.

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