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Wave over Happy Valley

Energy harvesting from Mountain Wave: A video showing the time history of the potential foe energy harvesting from mountain wave over Central Pennsylvania. Blue isosurfaces bound regions where the vertical component of the wind is greater than the sink rate of a glider, hence flight within these regions leads to increasing glider total energy. The data was generated using WRF-ARW. Data courtesy George S. Young, Brian J. Gaudet, Nelson L. Seamand and David R. Stauffer, Department of Meteorology, Penn State University. Please see the projects page for more information. [26Mb WMV]

Optical flow to occupancy grid map for obstacle avoidance.

Obstacle avoidance using optical flow and occupancy grids: This video shows a simulation of obstacle avoidance for a small autonomous aircraft. Optical flow is used to populate an occupancy grid (aka evidence grid), which is used to generate steering commands for obstacle avoidance. The occupancy grid serves two purposes: robustness to noisy optical flow measurements and the ability to plan a local trajectory rather than simply using feedback control. See my Projects page for more information. [14.5Mb AVI]

Welcome my homepage. My research is primarily concerned with planning and control algorithms to enable high performance autonomy, focused mainly on robotic flight vehicles. I do some work with application of vision to problems in obstacle avoidance and estimation.

Contact me at .

My CV is available here.


Team has won the Green Flight Challenge! We have flown a 4-seat electrically powered aircraft for 200 miles at 107 miles per hour at an average equivalent fuel efficiency of 403 passenger miles per gallon. I am incredibly proud to be part of this project. Working with the engineers at Pipistrel and our pilots Dave Morss and Robin Reid has been insanely rewarding. An overview and links to more details can be found here.

On November 13 I gave a short talk at TEDxPSU. The video is on YouTube: TEDxPSU Green Flight Challenge.

Quick Links

Penn State University

PSU Aerospace Engineering

Aerospace Robotics Lab (Stanford University)

Pipistrel USA


Home | Bio | AVIA | Green Flight Challenge | Research | Publications