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My current research focuses on risk-aware motion planning in unstructured environments like rough terrain and in the presence of dynamically moving obstacles. It accounts for uncertainty in the environment in a systematic way using coherent risk metrics.


A structured method for a moving agent to predict the paths of dynamically moving obstacles and avoid them using a risk-aware planning scheme. 

Synthesis and evaluation of increasingly dynamic quadrupedal locomotion gaits like walking, trotting, and hopping for navigation over unknown terrain with a focus on obstacle avoidance using the walking gait and vision.

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