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NSF Postdoctoral Associate (Visiting Assistant Professor)
Geometric mechanics, control theory, mechanics of elastic structures, robotic manipulation
My research focuses on geometric control theory and its applications in mechanics and robotics. Within control theory, I study symmetries in optimal control problems, specifically the effects of symmetries on sufficient conditions for optimality and on topological properties of families of solutions. I then use these results from optimal control theory to formulate and analyze models of deformable objects. I am particularly interested in the stability properties of thin and constrained elastic structures. Finally, I use these models to derive methods for robotic manipulation of elastic objects, such as deformable cables and thin surfaces.
- Reduction of sufficient conditions for optimal control problems with subgroup symmetry (with T. Bretl), IEEE Trans. Autom. Control 62 (2017), 3209-3224.
- Sufficient conditions for a path-connected set of local solutions to an optimal control problem (with T. Bretl), SIAM J. Appl. Math. 76 (2016), 976-999.
- The free configuration space of a Kirchhoff elastic rod is path-connected (with T. Bretl), IEEE Int. Conf. Robot. Autom. (2015), 2958-2964.