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.
A relaxed notion of group invariance that balances structure with generality.
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.
