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Andy Borum

NSF Postdoctoral Associate (Visiting Assistant Professor)

Andy Borum

Malott Hall, Room 430
adb328@cornell.edu
607-255-0501

Educational Background

  • Ph.D. (2018) University of Illinois at Urbana-Champaign

Overview

Research Focus

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.

Departments/Programs

  • Mathematics

Publications

  • 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.