I’m the Charles Stark Draper Assistant Professor in the Department of Aeronautics and Astronautics at the Massachusetts Institute of Technology, and Principal Investigator in the MIT Laboratory for Information & Decision Systems (LIDS).

My goal is to enable human-level perception and world understanding on mobile robotics platforms (micro aerial vehicles, self-driving vehicles, ground robots) operating in the real world. Towards this goal, my work involves a combination of rigorous theory and practical implementations. In particular, my research interests include nonlinear estimation and probabilistic inference, numerical and distributed optimization, and computer vision applied to sensing, perception, and decision-making in single and multi-robot systems.

Human-level perception will increase reliability in safety-critical applications of robotics and autonomous vehicles (including self-driving cars and robotics for disaster response), and increase efficiency and effectiveness in service robotics and consumer applications (manufacturing, healthcare, domestic robotics, augmented reality).

Research Interests

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Multimodal robot perception: geometric, semantic, and physical understanding


Sensing, Perception, and Navigation of resource-constrained robots


Robust and distributed estimation with provable performance guarantees