Teaching

I am always excited by teaching opportunities. I have been a TA for several graduate and undergraduate courses namely: Advanced Robotics (graduate-level course), Robotics (graduate and undergraduate-level course), and Differential Equations (undergraduate-level course). I have been a tutor for several other undergraduate courses and have held weekly science lessons at a nearby elementary school as a volunteer (5th graders are awesome scientists). 

​

I helped design the Advanced Robotics class on Planning under Uncertainty (ME 234b) taught by Prof. Joel Burdick. Below are some lectures I gave on optimization-based control:

​

1. Optimization Review

2. Unconstrained Optimal Control

3. ​Constrained Optimal Control

4. Introduction to MPC

5. MPC with Polytopic and Gaussian disturbances

6. Convex approximations of chance constraints (introduction to risk-aware MPC)​

​

The MATLAB code used for the examples in the above slides is available here.

Feel free to email me if you have feedback or spot any typos in the lectures.