My research has focused on developing a general set of
motion planning and control algorithms for mobile robots to operate safely,
efficiently, and effectively in complex unstructured environments. A major
focus of my work has been the development of a trajectory generation
technique that embeds generic motion models to provide informed connections
in motion planning search spaces. The other common theme of my work involves
finding novel ways to utilize these techniques to solve real-world mobile
robot motion planning and control problems.