Contact-Robust Trajectory Planning via Parametric Sensitivity Analysis for Hybrid Robotic Systems
2026 IEEE ICRA
Robust RL Navigation Via Sensitivity-Aware Observation Augmentation
2025 IROS Workshop on The Art of Robustness Surviving Failures in Robotics
Robust Sensitivity-Aware Chance-Constrained MPC for Efficient Handling of Multiple Uncertainty Sources
2025 IEEE RA-L
Navigating a Complex World: Improving Robot Outcomes Through Social, Regulatory, and Control Theoretic Approaches
Thesis Defense
Improving Equity in Robot Deployment: A Study of Food Pantry Patrons
In Preparation
Designing Safe Quadrupedal Gaits
2024 IEEE ICRA Workshop on Advancements in Trajectory Optimization and Model Predictive Control for Legged Systems
Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots
2024 IEEE ICRA
Grounding Robot Locomotion in Self-Defense Law
2023 IEEE RO-MAN
By Air or by Land: How Locomotion Methods Dictate Drone Ethics
2022 IEEE ICRA Workshop on Addressing Ethical and Technical Challenges in the Development, Use, and Governance of Lethal Autonomous Weapons Systems
Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits
2022 IEEE ICRA