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Ph.D. Students

Arbaaz Khan, Ph.D. (ESE, 2022)
Current Position: Rivian
Kate Tolstaya, Ph.D. (ESE, 2021)
Current Position: Waymo
Ke Sun, Ph.D. (ESE, 2021)
Current Position: Zoox
Rebecca Li, Ph.D. (2021)
James Svacha, Ph.D. (2019)
Current Position: Robotics Engineer at Near Earth Autonomy
Thesis Title: IMU-Based State Estimation and Control of Quadrotors Exploiting Aerodynamic Effects
Monroe Kennedy III, Ph.D. (2019)
Current Position: MIT Lincoln Lab, Technical Staff in the Controls & Autonomous Systems Engineering Group
Thesis Title: Modeling and Control for Robotic Assistants: Single and Multi-Robot Manipulation
Kartik Mohta, Ph.D. (2018)
Current Position: Research Scientist at Autel Robotics USA
Thesis Title: State Estimation, Control, and Planning for a Quadrotor Team
Mike Watterson, Ph.D. (2018)
Current Position: Software Engineer, Waymo
Thesis Title: Geometric Methods for Free-flying Autonomous Systems
Sarah Tang, Ph.D. (2018)
Current Position: Software Engineer, Nuro
Thesis Title: Control, Planning, and Coordination for Dynamic Aerial Manipulation with Robot Teams
Sikang Liu, Ph.D. (2018)
Current Position: Software Engineer, Waymo
Thesis Title: Motion Planning for Micro Aerial Vehicles
Denise Wong, Ph.D. (2016)
Current Position: Robotics Engineer, Exyn Technologies Inc
Thesis Title: Actuation, Sensing and Control for Micro Bio Robots
Justin Thomas, Ph.D. (2016)
Current Position: Robotics Engineer, Exyn Technologies Inc
Thesis Title: Grasping, Perching, and Visual Servoing for Micro Aerial Vehicles
Ben Charrow, Ph.D. (2015)
Current Position: Google
Thesis Title: Information-theoretic active perception for multi-robot teams
Philip Dames, Ph.D. (2015)
Current Position: Assistant Professor, Temple University
Thesis Title: Multi-Robot Active Information Gathering Using Random Finite Sets.
Jun Seo, Ph.D. (2014)
Current Position: Assistant Professor, Hong Kong University of Science and Technology
Thesis Title: Grasping and Assembling with Modular Robots
Matthew Turpin, Ph.D. (2014)
Current Position: Staff Research Engineer, Qualcomm
Shaojie Shen, Ph.D. (2014)
Current Position: Assistant Professor of Electronic and Computer Engineering, Hong Kong University of Science and Technology.
Thesis Title: Autonomous Navigation in Complex Indoor and Outdoor Environments with Micro Aerial Vehicles.
Soonkyum Kim, Ph.D. (2013)
Current Position: Postdoctoral Fellow, CMU.
Daniel Melllinger, Ph.D. (2012)
Current Position: Co-President, KMel Robotics
Quentin Lindsey, Ph.D. (2012)
Current Position: Aeronvironment Inc.
Subhrajit Bhattacharya, Ph.D. (2012)
Current Position: Lehigh University
Thesis Title: Topological and Geometric Techniques in Graph Search-Based Robot Planning.
Jonathan Fink, Ph.D. (2011)
Current Position: Army Research Laboratory.
Nora Ayanian, Ph.D. (2011)
Current Position: Assistant Professor, USC.
Ethan Stump, Ph.D. (2010)
Current Position: Army Research Laboratory
Mahmut Selman Sakar, Ph.D. (2010)
Current Position: Postdoctoral Fellow, MIT.
Spring Berman, Ph.D. (2010)
Current Position: Postdoctoral Fellow, Harvard University.
David Cappelleri, Ph.D. (2009)
Current Position: Asst. Prof., Stevens Institute of Technology.
Luciano Pimenta, Ph.D. (2009)
Current Position: Assistant Professor, Federal University of Mineas Gerais, Belo Horizonte, Brazil.
Nathan Michael, Ph.D. (2009)
Current Position: Research Assistant Professor, University of Pennsylvania.
Ani Hsieh, Ph.D. (2007)
Current Position: Asst. Prof. Drexel University.
Thesis Title: Motion Control Strategies for Networked Robot Teams in Environment with Obstacles
Jungwoo Kim, Ph.D. (2006)
Current Position: Currently at Notilus Hyosung, Seoul, S. Korea.
Thesis Title: Adaptive Randomized Algorithms for Validation and Analysis of Complex Systems
Meghann Lomas, Ph.D. (2006)
Current Position: Advanced Technologies Laboratory, Lockheed Martin.
Thesis Title: Reinforcement Learning for Mobile Robot Controllers: Theory and Experiments
Sachin Chitta, Ph.D. (2005)
Current Position: Currently at Willow Garage.
Thesis Title: Dynamics and Control of a Class of Modular Locomotion Systems
Aveek Das, Ph.D. (2004)
Current Position: Currently at Sarnoff Corporation.
Thesis Title: Cooperative Control of Robot Formations
Rahul Rao, Ph.D. (2004)
Current Position: Currently at Intel Corporation.
Thesis Title: Image Based Control of an Unmanned Ground Vehicle from an Overhead Camera
Calin Belta, Ph.D. (2003)
Current Position: Currently Asst. Prof., Boston University.
Thesis Title: Geometric Methods for Multirobot Planning and Control
Joel Esposito, Ph.D. (2002)
Current Position: Associate Professor, United States Naval Academy.
Thesis Title: Simulation and Control of Hybrid Systems with Applications to Mobile Robotics
Peng Song, Ph.D. (2002)
Current Position: Assistant Professor, Rutgers University.
Thesis Title: Modeling, Analysis and Simulation of Multibody Systems with Contact and Friction
Tom Sugar, Ph.D. (1999)
Current Position: Assistant Professor, Arizona State University.
Thesis Title: Design and Control of Cooperating Manipulators
Jaydev Desai, Ph.D. (1998)
Current Position: Assoc. Prof., Mechanical Engineering, Univ. of Maryland.
Thesis Title: Nonholonomic Motion Planning for Multiple Mobile Manipulators
Venkat Krovi, Ph.D. (1998)
Current Position: Associate Professor, SUNY Buffalo.
Thesis Title: Design and Virtual Prototyping of User Customized Assistive Devices
Milos Zefran, Ph.D. (1996)
Current Position: Assistant Professor, University of Illinois, Chicago.
Thesis Title: Continuous Methods for Motion Planning
Chau-Chang Wang, Ph.D. (1995)
Current Position: Assistant Professor, National Sun Yat-Sen University, Taiwan.
Thesis Title: Kinematics and Control of Redundant Nonholonomic Systems
William Howard, Ph.D. (1995)
Current Position: President, Stability Technology, Buford, Georgia.
Thesis Title: Stability of Grasps: Beyond Force Closure
Mohamed Ouerfelli, Ph.D. (1994)
Current Position: Assistant Professor, King Fahd University, Saudi Arabia.
Thesis Title: Kinematics of Head Movements in Paraplegics and Interaction with Robot Manipulators
Nilanjan Sarkar, Ph.D. (1993)
Current Position: Associate Professor, Vanderbilt University.
Thesis Title: Control of Mechanical Systems with Rolling Contacts
Yin-Tien Wang, Ph.D. (1992)
Current Position: Associate Professor, Tamkang University, Taiwan.
Thesis Title: Analysis and Simulation of Mechanical Systems with Multiple Frictional Contacts
Jung-ha Kim, Ph.D. (1990)
Current Position: Professor, Kook Min University, Seoul, S. Korea.
Thesis Title: Kinematics and Statics of Multifingered Grippers
Nathan Ulrich, Ph.D. (1990)
Current Position: President, Technique Applied Science, Inc.
Thesis Title: Mechanical Design Optimization of Manipulator Design Performance
Arbaaz Khan, Ph.D.
Ed Steager, Ph.D. Current Position: Research Scientist
Ekaterina Tolstaya, Ph.D.
Elizabeth Beattie Hunter, Ph.D.
James Keller, Ph.D.
Luis Guerrero, Ph.D.
Mickey Whitzer, Ph.D.
Sarah Tang, Ph.D. Current Position: Waymo
Wenxin Liu, Ph.D.

Research Staff

Dinesh Thakur,

Postdoctoral Fellows

Siddharth Mayya, Ph.D. (Postdoctoral researcher, MEAM, 2019-2021)
Current Position: Applied Scientist, Amazon Robotics
Avi Cohen, Ph.D. (2018)
Giuseppe Loianno, Ph.D. (2018)
Current Position: Assistant Professor, NYU Tandon School of Engineering
Jnaneshwar Das, Ph.D. (2018)
Current Position: Assistant Research Professor, Arizona State University, SESE
Amanda Prorok, Ph.D. (2017)
Current Position: University Lecturer (Asst. Professor), Cambridge University
Daigo Shishika, Ph.D. (2017)
Jimmy Paulos, Ph.D. (2017)
Konstantinos Karydis, Ph.D. (2015-2017)
Current Position: Assistant Professor, UC Riverside
Thesis Title: A Data-Driven Hierarchical Framework for Planning, Navigation, and Control of Uncertain Systems: Applications to Miniature Legged Robots
Nikolay A. Atanasov, Ph.D. (2015-2017)
Current Position: Assistant Professor, UC San Diego
Philip Dames, Ph.D. (2015-2016)
Current Position: Assistant Professor, Temple University
Thesis Title: Multi-Robot Active Information Gathering Using Random Finite Sets.
Giuseppe Loianno, Ph.D. (2014-2015)
Current Position: Research Scientist
Jun Seo, Ph.D. (2014-2015)
Current Position: Assistant Professor, Hong Kong University of Science and Technology
Thesis Title: Grasping and Assembling with Modular Robots
Pratap Tokekar, Ph.D. (2014-2015)
Current Position: Assistant Professor, Virginia Tech
Thesis Title: Placement and Motion Planning Algorithms for Robotic Sensing Systems
Mihail Pivtoraiko, Ph.D. (2013-2014)
Douglas Macheret, Ph.D. (2013)
Subhrajit Bhattacharya, Ph.D. (2012-2016)
Current Position: Lehigh University
Thesis Title: Topological and Geometric Techniques in Graph Search-Based Robot Planning.
Koushil Sreenath, Ph.D. (2012-2013)
Current Position: Assistant Professor, CMU.
Qimi Jiang, Ph.D. (2009-2011)
Current Position: Mining Technologies International, Ontario.
Vinutha Kallem, Ph.D. (2009-2011)
Current Position: Currently at SRI
Bogdan Gavrea, Ph.D. (2006-2007)
Manish Kumar, Ph.D. (2006)
Current Position: Asst. Prof., University of Cincinnati
Peng Cheng, Ph.D. (2005-2008)
Current Position: Currently at Mathworks
Savvas Loizou, Ph.D. (2005-2007)
Current Position: Visiting Asst. Prof., Naval Arch. and Marine Eng., National Technical University of Athens
Adam Halasz, Ph.D. (2004-2006)
Current Position: Asst. Prof., University of West Virginia
Ben Grocholsky, Ph.D. (2003-2006)
Current Position: Research Scientist, Carnegie Mellon University
Luiz Chaimowicz, Ph.D. (2003-2005)
Current Position: Currently Adjunct Prof., Federal University of Mineas Gerais, Brazil
Peng Song, Ph.D. (2003-2005)
Current Position: Asst. Prof., Rutgers University
Xiaoye Wang, Ph.D. (2002 (joint with Harvey Rubin and G. K. Ananthasuresh))
Herbert Tanner, Ph.D. (2001-2002 (joint with George Pappas))
Current Position: Asst. Prof., Mechanical Engineering, University of New Mexico
Jason Derenick, Ph.D. (2001)
Current Position: Currently at UTRC
Rafael Fierro, Ph.D. (1999-2001)
Current Position: Asst. Prof., Electrical Engineering, Oklahoma State University
John Ben Southall, Ph.D. (1999-2000)
Current Position: Currently at Sarnoff
John Wright, Ph.D. (1999)
Current Position: Assoc. Prof., Millersville University of Pennsylvania
Greg Grudic, Ph.D. (1998-2001)
Current Position: Asst. Prof., Computer Science, University of Colorado at Boulder
Jean-Marc Vezien, Ph.D. (1996-1998)
Current Position: Currently at INRIA, France
Herman Bruyninckx, Ph.D. (1996-1997)
Current Position: Currently on the faculty of the Katholik University, Leuven, Belgium
Elan Henis, Ph.D. (1992-1993)
Current Position: Currently at the IBM Haifa Research Laboratory
Leslie Johnson, Ph.D. (1991)
Thesis Title: A Numerical Technique for Determination of Contact Forces for Multifingered Robotic Grippers
Lifeng Zhou, Ph.D.
Sandeep Manjanna, Ph.D.

Masters Students

Cedric de Crousaz, MS (May 2015)
Gareth Cross, MS (May 2015)
Current Position: Skydio
Thesis Title: Sparse Monocular Visual Odometry
Michael Shomin, MS (2011)
Erik Smith, MS (2008)
Current Position: US Navy
Dimitris Theodorakatos, MS (2007)
Thesis Title: Cable-Actuated Parallel Manipulators
Gilad Buchman, MS (2007)
Fred Heger, MS (2004)
William Yeoh, MS (2004)
Robert Breslawski, MS (1999)
Thesis Title: Articulated Wheeled and Legged Mobility System for Uneven Terrain
Brad Dufour, MS (1997)
Thesis Title: Strength Amplification in Assistive Devices for People with Physical Disabilities
Milos Zefran, MS (1995)
Thesis Title: Numerical Techniques for Time Optimal Robot Control
Venkat Krovi, MS (1995)
Thesis Title: Modeling and Control of a Hybrid Locomotion System
Greg Garvin, MS (1994)
Thesis Title: Kinematics and Trajectory Generation in Two-Armed Reaching and Manipulation
Parris Wellman, MS (1994)
Thesis Title: An Adaptive Mobility System
Seshadri Narasimhan, MS (1994)
Thesis Title: Control of Robot Manipulators in Singular Configurations
J. Chris Gerdes, MS (1992)
Thesis Title: Modeling and Analysis of the Dynamic Behavior of Spur Gears with Applications To Control
Thomas G. Sugar, MS (1992)
Thesis Title: Design and Control of an in-Parallel Pneumatically-Actuated Manipulator
George Pfreundschuh, MS (1990)
Thesis Title: Kinematics, Design and Control of a Parallel Manipulator
Michael C. Johnson, MS (1989)
Thesis Title: Force and Motion Control of Redundantly Actuated Robotic Systems with Closed Kinematic Chains
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