The Geometry, Design, and Control ("GeoDesiC") Laboratory is a robotics and control research group at Cornell University. We explore the role of differential geometry in control synthesis and morphology design for robotic systems.
Design of an aerial manipulator for agile interaction tasks.
Trajectory tracking control via sample-efficient reinforcement learning.
Extending tracking control algorithms to homogeneous spaces.
Extending compositional stability certificates to non-Euclidean manifolds.
Uncovering connections between symmetry and differential flatness in mechanical systems.
Trajectory planning for underactuated aerial manipulators.
Tracking moving objects using only onboard sensing, perception, and computation.
