Astrobee

Astrobee will launch to the International Space Station in late 2018, where it will assist astronauts and ground controllers, complete surveys of the station, and be used by guest scientists such as the Zero Robotics competition. I developed Astrobee's localization algorithms, along with numerous other contributions to the robot's software. Astrobee's source code has been released open source.

Inundation Mapping

At NASA, I have been working on mapping floods and water more generally from satellite imagery. Three of my interns, Nolan Cate, Anton Surunis, and Chelsea Ackroyd, created this informative and entertaining video on mapping Lake Tahoe for the US Forest Service.

CoBot

The CoBots deliver packages and escort visitors in the Gates Hillman Center at CMU. They have been deployed for multiple years and traversed over a thousand kilometers with minimal human supervision. The CoBots are joint work with Manuela Veloso, Joydeep Biswas, and Stephanie Rosenthal. The remarkable CoBot hardware was built by Mike Licitra.

CreBots

 The CreBots were used for my thesis to show the feasibility of autonomous item transfer between robots. They run the same software as the CoBots. The baskets were built by Thomas Charley.

RoboCup

 I participated in the RoboCup SPL for four years: in Suzhou (could not attend due to passport issues), Graz, Singapore, and Istanbul. I was also an intern at Aldebaran in Boston where I developed a curriculum for high school students to learn programming with the Naos.

Colony

As an undergrad, the first robots I worked on extensively were the Colony robots in the CMU Robotics Club. I developed a robust wireless token ring to control flashing of our custom BOM sensor, and developed software for autonomous recharging and many other projects. The Colony marching band is shown above.