Motion planning for robot arms is computationally difficult, partially due to the complicated geometry induced by how robot configurations are parametrized. My work is to develop a better understand of the geometry of these spaces and use this understanding to develop better motion planners. In particular my work focuses on kinematic structure and optimizations that are able to efficiently capture this structure.

I am a course 6 and 18 with an interest in algorithms, cycling, hiking and classical music. This is my third year with Learning and Intelligent Systems and I hope to bring insights based on the mathematical structures that we find in robotics.”