Control of fully autonomous flying robots
Software Engineer - Motion Planning / Dynamics and Control
03/2017 - present, 50% since 10/2018, 75% since 10/2019
Redwood City, CA, USA
Flying robot swarms
10/2018 - 05/2020 (50% from 10/2018 to 09/2019, 25% from 10/2019 to 05/2020)
Adaptive Control for autonomous MAVs in unstructured GPS-denied environments
03/2011 - 03/2017
Modeling, simulation, guidance and control for an autonomous unmanned omnidirectional airship
Systems Engineer - Guidance, Navigation and Control (GNC)
10/2008 - 06/2010
See Master's Thesis in Publications.
Dr.-Ing. in Robotics
04/2014 - 2018 (expected)
Model-Based Control of Flying Robots for Robust Interaction under Wind Influence [ pdf ]. Control methods to make autonomous MAVs flying in unknown and uncertain environments robust to environmental forces. Covers interaction control; collision detection, identification, isolation and reflexes; tactile mapping; aerodynamics modeling; wind speed estimation and compensation. See Publications.
Master's degree in Mechanical Engineering; Mechatronics and Robotics
Graduated with Honors (top 5% in class)
04/2008 - 02/2010
Robust control of rigid body motion [ PDF ] First-order sliding mode control with boundary layer and PD sliding surface combined with distubance observer control applied to the model of an unmanned underwater vehicle (UUV) under strong wave disturbances. Developed an iterative control allocation algorithm for vectored propulsion with saturation. Dynamics of UUV derived using tensor representation. Feedback control using Euler-Rodriguez (dual quaternion) representation of body configuration. Developed while working on the Hipersfera airship.
Bachelor's degree in Mechanical Engineering; Mechatronics and Robotics
09/2004 - 04/2008