Motion Planning under Obstacle Uncertainty

Prove NP-hardness of finding trajectory minimizing risk of collision with Gaussian-distributed obstacles in two or more dimensions. IJRR 2021 WAFR 2018

Demonstrate polynomial-time fixed-parameter algorithm that finds exact solutions when parameter is fixed, or an approximation when it is not. Masters Thesis WAFR 2022

Learning to Guide Task and Motion Planning

Task and motion planning algorithm guided by a learned value function over discrete parameters estimated by a graph neural network architecture.
IJRR 2021 CoRL 2019

Autonomous Submarines

Two autonomous submarines capable of manipulating objects, aiming and shooting torpedoes, and navigating around obstacles. International finalist (7th place) at RoboSub 2015.
2016 Paper 2015 Paper

i3-grid

Extension for the i3 Window Manager that allows for navigating among workspaces arranged in a grid instead of numerically. GitHub (2014)

Jam

Low latency audio streaming to enable musicians to play together in-sync remotely. Cuts through the overhead with direct P2P connections via UDP hole punching. GitHub (2020)

Musical Autocomplete

Interactive music system that generates real-time harmonic accompaniment and four-part voice leading from partial melody or chord inputs. Employs dynamic search constrained by classical and jazz music theory, featuring live MIDI playback and pitch tracking. Demo on Vimeo (2018)

Inflatable Sailboat

DIY spritsail rigged to an inflatable boat. Fits in a suitcase for easy transport to the river. (2021)

Eagle Project

Led team of volunteers to collect old computers from the community and refurbish them for use by a local youth coding education organization. (2015)

It is Well

Piano arrangement of It is Well with my Soul (Horatio Spafford & Philip Bliss), Blessings (Laura Story), Touch of Heaven (Hillsong), and It is Well (Bethel). YouTube (2020)