diff --git a/_data/members.yml b/_data/members.yml index 5123435..bc0234c 100644 --- a/_data/members.yml +++ b/_data/members.yml @@ -13,7 +13,7 @@ type: grad photo: people/hlevy.jpg info: | - PhD Student, MAE + PhD Candidate, MAE MS, UCLA 2022 BS, UC Santa Barbara 2020 Research: Trajectory Planning @@ -32,9 +32,9 @@ type: grad photo: people/dthorne.png info: | - PhD Student, MAE + PhD Candidate, MAE BS, UCLA 2021 - Research: Optimization and SLAM + Research: Submodular Optimization and LiDAR SLAM Email     Website - name: Yanlong Ma @@ -51,29 +51,28 @@ type: grad photo: people/bdee.jpg info: | - MS Student, MAE + PhD Student, MAE BS, UCLA 2022 Research: Nonlinear Control and Trajectory Optimization Email     Website -- name: Hieu Nguyen +- name: Eden Zafran type: grad - photo: people/hnguyen.jpg + photo: people/ezafran.jpeg info: | MS Student, MAE BS, UCLA 2023 Research: Trajectory Optimization - Email     Website + Email     Website -- name: James Tseng +- name: Qiyuan Wu type: grad - photo: people/jtseng.jpg + photo: people/bwu.jpg info: | MS Student, MAE - BS, UCLA 2023 + BS, UCLA 2025 Research: Trajectory Optimization - Email     Website - + Email     Website ### Undergrads ### - name: Krithi Koodli @@ -83,27 +82,44 @@ BS Student, MAE Email     Website -- name: Angela Yang +- name: Nathan Chan type: undergrad - photo: people/ayang.png + photo: people/nchan.jpg info: | - BS Student, CS & Linguistics - Email     Website + BS Student, CS + Email     Website -- name: Grace Kwak +- name: Stanley Wei type: undergrad - photo: people/gkwak.jpg + photo: people/swei.png info: | - BS Student, ECE - Email     Website + BS Student, CS & Applied Math + Email     Website -- name: Samuel Chua +- name: Nakul Joshi type: undergrad - photo: people/schua.jpg + photo: people/njoshi.jpg info: | - BS Student, CS & Engineering - Email     Website + BS Student, CS + Email     Website + +- name: Ryu Adams + type: undergrad + photo: people/radams.jpg + info: | + BS Student, CS + Email     Website +- name: Alan Song + type: undergrad + photo: people/dummy.jpg + info: | + BS Student, CS + Email     Website + +# adding students without photos +# - name: First Last +# type: undergrad_list_only ### Alumni ### - name: Kenny Chen @@ -143,17 +159,39 @@ photo: people/ajohnsabu.jpg info: | MS, UCLA 2023 - BTech, IIT Bombay 2021 Email     Website - name: Sarah Enayati type: alumni photo: people/senayati.jpg info: | + General Atomics MS, UCLA 2023 - BS, UCLA 2022 Email     Website +- name: Hieu Nguyen + type: alumni + photo: people/hnguyen.jpg + info: | + Wisk + MS, UCLA 2025 + Email     Website + +- name: McKay McFadden + type: alumni + photo: people/mmcfadden.jpg + info: | + Vector + MS, UCLA 2025 + Email     Website + +- name: James Tseng + type: alumni + photo: people/jtseng.jpg + info: | + MS, UCLA 2025 + Email     Website + - name: Matthew Guemmer type: alumni photo: people/mguemmer.jpg @@ -178,8 +216,28 @@ BS, UCLA 2023 Email     Website +- name: Grace Kwak + type: alumni + photo: people/gkwak.jpg + info: | + BS, UCLA 2024 + Email     Website +- name: Angela Yang + type: alumni + photo: people/ayang.png + info: | + Meta + BS, UCLA 2025 + Email     Website +- name: Samuel Chua + type: alumni + photo: people/schua.jpg + info: | + University of Pennsylvania (MSE) + BS, UCLA 2025 + Email     Website diff --git a/_data/publist.yml b/_data/publist.yml index 939484c..843f52d 100644 --- a/_data/publist.yml +++ b/_data/publist.yml @@ -1,4 +1,18 @@ # Examples: +- title: "Submodular Optimization for Keyframe Selection & Usage in SLAM" + authors: D. Thorne, N. Chan, Y. Ma, C. Robinson, P. Osteen, and B.T. Lopez + year: 2025 + link: + url: https://arxiv.org/pdf/2410.05576 + display: IEEE International Conference on Robotics and Automation + +- title: "LiDAR Inertial Odometry and Mapping Using Learned Registration-Relevant Features" + authors: Z. Dong, J. Pflueger, L. Jung, C. Robinson, P. Osteen, B.T. Lopez, M.F. Everett + year: 2025 + link: + url: https://arxiv.org/pdf/2410.02961 + display: IEEE International Conference on Robotics and Automation + - title: "STITCHER: Real-Time Trajectory Planning with Motion Primitive Search" authors: H.J. Levy and B.T. Lopez year: 2024 @@ -20,20 +34,6 @@ url: https://arxiv.org/pdf/2411.16999 display: IEEE Control Systems Letters -- title: "Submodular Optimization for Keyframe Selection & Usage in SLAM" - authors: D. Thorne, N. Chan, Y. Ma, C. Robinson, P. Osteen, and B.T. Lopez - year: 2024 - link: - url: https://arxiv.org/pdf/2410.05576 - display: arXiv - -- title: "LiDAR Inertial Odometry and Mapping Using Learned Registration-Relevant Features" - authors: Z. Dong, J. Pflueger, L. Jung, C. Robinson, P. Osteen, B.T. Lopez, M.F. Everett - year: 2024 - link: - url: https://arxiv.org/pdf/2410.02961 - display: arXiv - - title: "An Addendum to NeBula: Towards Extending TEAM CoSTAR’s Solution to Larger Scale Environments" authors: B. Morrell et al. year: 2024 diff --git a/_data/research.yml b/_data/research.yml index 2a8616e..2fce863 100644 --- a/_data/research.yml +++ b/_data/research.yml @@ -1,30 +1,30 @@ -- title: "Fast and Robust Geometric Robot Perception" - image: research/dlio.png - description: "Research and development of real-time algorithms for fast and reliable localization and mapping for computationally-limited robotic platforms using LiDAR and IMU sensors." - researchers: K. Chen, R. Nemiroff +# - title: "Fast and Robust Geometric Robot Perception" +# image: research/dlio.png +# description: "Research and development of real-time algorithms for fast and reliable localization and mapping for computationally-limited robotic platforms using LiDAR and IMU sensors." +# researchers: K. Chen, R. Nemiroff -- title: "Efficient Motion Primitive Search Path Planning" +- title: "Real-time Trajectory Planning with Motion Primitive Search" image: research/time_optimal_plan.gif - description: "This research project focuses on expanding path planning capabilities for UAVs to more expansive ranges made possible by LiDAR technology. Research involves effective methods to smoothly connect motion primitives while preserving path optimality and retaining computational efficiency." + description: "This research project expands trajectory planning for vertical take-off and landing (VTOL) vehicles to long-range distances with real-time calculation. Research involves effective methods to smoothly connect motion primitives while preserving path optimality and retaining fast computation." researchers: H. Levy -- title: "Traversability-aware Multi-Robot Task Assignment" - image: research/TSOTAN.png - description: "This research project improves on state-of-the-art task assignment algorithms by using robot specific path planning instead of distance or application specific heuristics. In addition to creating more representative cost functions, this method also considers heterogeneity amongst robot teams by leveraging existing traversability assessment and path planning modules." +- title: "Submodular Optimization in LiDAR Perception for Mobile Robots" + image: research/David_Research_Image.png + description: "This research uses submodular optimization to solve NP-hard problems in LiDAR perception with provably near-optimal performance. A key line of work involves development of a novel streaming submodular algorithm which can generate summaries for large mapping sessions and submaps for planning applications in under one second." researchers: D. Thorne -- title: "Multi-Agent Interaction with Tumbling Objects in Orbit" - image: research/mas_space.jpg - description: "This research explores the interaction of multiple chaser spacecraft with uncontrollable (and, often, limitedly observable) tumbling objects in orbit. This includes the implementation of model predictive control for trajectory tracking and planning, and the application of distributed techniques including improvized task allocation algorithms in a target-centered reference frame." - researchers: A. John Sabu +# - title: "Multi-Agent Interaction with Tumbling Objects in Orbit" +# image: research/mas_space.jpg +# description: "This research explores the interaction of multiple chaser spacecraft with uncontrollable (and, often, limitedly observable) tumbling objects in orbit. This includes the implementation of model predictive control for trajectory tracking and planning, and the application of distributed techniques including improvized task allocation algorithms in a target-centered reference frame." +# researchers: A. John Sabu -- title: "Adaptive Robust Model Predictive Control" - image: research/armpc.png - description: "This research is on developing new adaptive controllers for non-linear systems. It is focused on controllers suitable for adaptive MPC for general systems with unmatched uncertainty. Possible applications for this work include aerial systems as well as underactuated systems." +- title: "Geometric Methods for Planning and Control" + image: research/geometric.png + description: "This research focuses on applying geometric methods to problems in planning and control. It includes work on contraction theory for adaptive control, information control barrier functions for integrating perception and control, and novel geometric methods for trajectory planning." researchers: S. Gessow -- title: "LiDAR-Based Place recognition" - image: research/lpr_ym.gif +- title: "LiDAR-Based Place Recognition" + image: research/lpr_ym_2.gif description: "Abstracting geometrical information from a point cloud is important in the study of SLAM and planning. This research focuses on LiDAR-based place recognition (LPR). The potential research topics include learning-based LPR, map merging, and multi-agent map sharing. " researchers: Y. Ma diff --git a/_pages/home.md b/_pages/home.md index 8fc8d22..dc90eec 100644 --- a/_pages/home.md +++ b/_pages/home.md @@ -6,19 +6,19 @@ permalink: / ---

- High-performance and field-hardened autonomy for aerospace systems. + High-performance and field-hardened autonomy for mobile robotic systems.

-We are a research group in the [Department of Mechanical and Aerospace Engineering](https://www.mae.ucla.edu) at UCLA that specializes in designing autonomy algorithms with formal performance guarantees for robotic aerospace systems. We utilize dynamical systems and control theory, optimization, and machine learning to design and verify algorithms that maintain consistent performance across diverse operating domains. Our work is improving the reliability and trustworthiness of autonomous systems that someday will be utilized in space, planetary exploration, emergency response, firefighting, and urban air transport. In addition to rigorous theoretical analysis, our work undergoes extensive field testing on our custom aerial robotic platforms. +We are a research group in the [Department of Mechanical and Aerospace Engineering](https://www.mae.ucla.edu) at UCLA that specializes in designing autonomy algorithms with formal performance guarantees for mobile robotic systems. We utilize dynamical systems and control theory, optimization, and machine learning to design and verify algorithms that maintain consistent performance across diverse operating domains. Our work is improving the reliability and trustworthiness of autonomous systems that someday will be utilized in space, planetary exploration, emergency response, firefighting, and urban air transport. In addition to rigorous theoretical analysis, our work undergoes extensive field testing on our custom aerial robotic platforms. Specific research areas of interests are: If you are interested in joining the lab send an email to [Prof. Lopez](https://btlopez.github.io) at btlopez at ucla dot edu with your CV and research interests. diff --git a/_pages/members.md b/_pages/members.md index f66bca9..8332d0a 100644 --- a/_pages/members.md +++ b/_pages/members.md @@ -55,7 +55,20 @@ sitemap: false {% if even_odd == 1 %} {% endif %} - + + + {% if member_type == "undergrad" %} + {% assign list_only = site.data.members | where: "type", "undergrad_list_only" %} + {% if list_only.size > 0 %} + + + {% endif %} + {% endif %} + {% endfor %} diff --git a/images/people/bcruz.jpg b/images/people/bcruz.jpg deleted file mode 100644 index 61b3a7c..0000000 Binary files a/images/people/bcruz.jpg and /dev/null differ diff --git a/images/people/bwu.jpg b/images/people/bwu.jpg new file mode 100644 index 0000000..e8fa3db Binary files /dev/null and b/images/people/bwu.jpg differ diff --git a/images/people/ezafran.jpeg b/images/people/ezafran.jpeg new file mode 100644 index 0000000..1371cd1 Binary files /dev/null and b/images/people/ezafran.jpeg differ diff --git a/images/people/mmcfadden.jpg b/images/people/mmcfadden.jpg new file mode 100644 index 0000000..299dc46 Binary files /dev/null and b/images/people/mmcfadden.jpg differ diff --git a/images/people/nchan.jpg b/images/people/nchan.jpg new file mode 100644 index 0000000..04fc9d3 Binary files /dev/null and b/images/people/nchan.jpg differ diff --git a/images/people/njoshi.jpg b/images/people/njoshi.jpg new file mode 100644 index 0000000..66ee4c4 Binary files /dev/null and b/images/people/njoshi.jpg differ diff --git a/images/people/radams.jpg b/images/people/radams.jpg new file mode 100644 index 0000000..b976c71 Binary files /dev/null and b/images/people/radams.jpg differ diff --git a/images/people/swei.png b/images/people/swei.png new file mode 100644 index 0000000..fc8084f Binary files /dev/null and b/images/people/swei.png differ diff --git a/images/research/David_Research_Image.png b/images/research/David_Research_Image.png new file mode 100644 index 0000000..f48333d Binary files /dev/null and b/images/research/David_Research_Image.png differ diff --git a/images/research/TSOTAN.png b/images/research/TSOTAN.png deleted file mode 100644 index 825942c..0000000 Binary files a/images/research/TSOTAN.png and /dev/null differ diff --git a/images/research/geometric.png b/images/research/geometric.png new file mode 100644 index 0000000..1a85003 Binary files /dev/null and b/images/research/geometric.png differ diff --git a/images/research/lpr_ym_2.gif b/images/research/lpr_ym_2.gif new file mode 100644 index 0000000..b187487 Binary files /dev/null and b/images/research/lpr_ym_2.gif differ