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George A Kantor
Systems Scientist

Associated center: CFR

Email address: kantor@ri.cmu.edu

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Jump to: Research interests | Keywords | Projects | Publications

Research interests

The control of dynamical systems becomes increasingly important as the era of robotics research dominated by quasi-static machines rapidly comes to a close. Similarly, the importance of state estimation grows as robotic applications require robots to function in larger, more complex environments. My research addresses both of these issues by focusing on the dual problems of controlling robotic mechanisms with non-trivial dynamics and perceiving the state of world through indirect measurements. My approach is both analytical and experimental: I use mathematics to understand the physical behavior of a given system and then use that understanding to create algorithms for control or estimation. I strive to develop new theoretical concepts and translate them into real-world implementations that solve problems such as balancing an unstable robot or estimating the location of an autonomous vehicle.

Research interest keywords

control, field robotics, range data, and sensor fusion

Current Projects [Past projects]

DEPTHX: Deep Phreatic Thermal Explorer - The DEPTHX: Deep Phreatic Thermal Explorer project is developing an autonomy for underwater explorers to enable them to map their environment and plan and execute science investigations. The DEPTHX vehicle will explore the flooded caverns of the Zacaton Cenote in Mexico in 2006.
Dynamically-Stable Mobile Robots in Human Environments - We are developing novel dynamically-stable rolling machine and walking machine research platforms to study interactions with people and operating in normal home and workplace environments.

Recent publications [View all 24 publications]

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