Browse by Advisor

2024

Wei, Skylar X. (2024) Data-Driven Safety-Critical Autonomy in Unknown, Unstructured, and Dynamic Environments. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/qpbp-0x81. https://resolver.caltech.edu/CaltechTHESIS:03042024-201031352

2023

Dixit, Anushri C. (2023) Risk-Aware Planning and Control in Extreme Environments. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/xv2b-tj24. https://resolver.caltech.edu/CaltechTHESIS:02082023-223824752

2022

Qin, Yidan (2022) Autonomous Temporal Understanding and State Estimation during Robot-Assisted Surgery. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/n58k-tr61. https://resolver.caltech.edu/CaltechTHESIS:05272022-171138586

Bouman, Amanda Rose (2022) Autonomous Mission-Driven Robots in Extreme Environments. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/a78d-kv42. https://resolver.caltech.edu/CaltechTHESIS:05172022-043237609

Folkestad, Carl A. A. (2022) Koopman-based Learning and Control of Agile Robotic Systems. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/2t6d-j206. https://resolver.caltech.edu/CaltechTHESIS:10122021-213903517

2021

Pastor, Daniel (2021) Towards Learning Robotic Dynamics: Application to Multirotor Takeoff and Landing. Dissertation (Ph.D.), California Institute of Technology.. doi:10.7907/199j-dk87. https://resolver.caltech.edu/CaltechTHESIS:03152021-082447788

Cheng, Richard (2021) Assuring Safety under Uncertainty in Learning-Based Control Systems. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/9kye-rn93. https://resolver.caltech.edu/CaltechTHESIS:01052021-195655093

Novoseller, Ellen Rachel (2021) Online Learning from Human Feedback with Applications to Exoskeleton Gait Optimization. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/gvtx-1586. https://resolver.caltech.edu/CaltechTHESIS:12092020-162149429

2020

Bowkett, Joseph John Douglas (2020) Functional Autonomy Techniques for Manipulation in Uncertain Environments. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/0kgt-yg76. https://resolver.caltech.edu/CaltechTHESIS:06082020-104419929

Tanner, Melissa Midori (2020) Tethered Motion Planning for a Rappelling Robot. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/h7d4-ww72. https://resolver.caltech.edu/CaltechTHESIS:06012020-230913819

2019

Edlund, Jeffrey Andrews (2019) Numerical Investigation of Spinal Neuron Facilitation with Multi-electrode Epidural Stimulation. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/2DVK-G212. https://resolver.caltech.edu/CaltechTHESIS:11302018-185025297

Georgiev, Nikola-Zlatkov (2019) Towards High Performance Robotic Actuation. Dissertation (Ph.D.), Caltech. doi:10.7907/W64Q-1R69. https://resolver.caltech.edu/CaltechTHESIS:05222019-132217207

2018

Burkhardt, Matthew Ryan (2018) Dynamic Modeling and Control of Spherical Robots. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/E5CW-8H41. https://resolver.caltech.edu/CaltechTHESIS:05302018-110559204

Leong, Yoke Peng (2018) Optimal Controller Synthesis for Nonlinear Systems. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/Z9TX3CK8. https://resolver.caltech.edu/CaltechTHESIS:12162017-121220572

Urban, Luke Stuart (2018) An Electrophysiological Study Of Voluntary Movement and Spinal Cord Injury. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/K6P2-ZH75. https://resolver.caltech.edu/CaltechTHESIS:06012018-140912331

2017

Shah, Parth (2017) Heading Estimation via Sun Sensing for Autonomous Navigation. Senior thesis (Major), California Institute of Technology. doi:10.7907/Z9BG2M1S. https://resolver.caltech.edu/CaltechTHESIS:06142017-153929873

Sui, Yanan (2017) Online Learning for the Control of Human Standing via Spinal Cord Stimulation. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/Z9BK19DN. https://resolver.caltech.edu/CaltechTHESIS:04172017-163725367

2016

Allen, Thomas F. (2016) Two and Three Finger Caging of Polygons and Polyhedra. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/Z93X84KR . https://resolver.caltech.edu/CaltechTHESIS:12062015-164238181

Liu, Zhao (2016) Electromyographic Signal Processing With Application To Spinal Cord Injury. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/Z9QJ7F99. https://resolver.caltech.edu/CaltechTHESIS:05312016-211459301

Shankar, Krishna (2016) Kinematics and Local Motion Planning for Quasi-static Whole-body Mobile Manipulation. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/Z9KK98RX. https://resolver.caltech.edu/CaltechTHESIS:05222016-095145651

2014

Desautels, Thomas Anthony (2014) Spinal Cord Injury Therapy through Active Learning. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/X5M7-EC09. https://resolver.caltech.edu/CaltechTHESIS:07252013-120308708

Horowitz, Matanya Benasher (2014) Efficient Methods for Stochastic Optimal Control. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/D40A-9E03. https://resolver.caltech.edu/CaltechTHESIS:05312014-011052261

Huang, Tiffany Amy (2014) Convex Model Predictive Control for Vehicular Systems. Senior thesis (Major), California Institute of Technology. doi:10.7907/PNN7-SC35. https://resolver.caltech.edu/CaltechTHESIS:06052014-200112345

Sharan, Rangoli (2014) Formal Methods for Control Synthesis in Partially Observed Environments: Application to Autonomous Robotic Manipulation. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/RQKC-N871. https://resolver.caltech.edu/CaltechTHESIS:05292014-063852576

2013

Hebert, Paul (2013) Estimation and Inference for Grasping and Manipulation Tasks Using Vision and Kinesthetic Sensors. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/PZB6-QJ39. https://resolver.caltech.edu/CaltechTHESIS:04052013-105520483

Trautman, Peter (2013) Robot Navigation in Dense Crowds: Statistical Models and Experimental Studies of Human Robot Cooperation. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/BHGM-0C65. https://resolver.caltech.edu/CaltechTHESIS:05182013-191132413

2012

Abad-Manterola, Pablo (2012) Axel Rover Tethered Dynamics and Motion Planning on Extreme Planetary Terrain. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/MPHD-PC75. https://resolver.caltech.edu/CaltechTHESIS:08312011-003358925

2010

Du Toit, Noel Eduard (2010) Robot Motion Planning in Dynamic, Cluttered, and Uncertain Environments: the Partially Closed-Loop Receding Horizon Control Approach. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/SD3N-JR18. https://resolver.caltech.edu/CaltechTHESIS:02042010-152638957

Ma, Jeremy Chee-Ming (2010) Real-Time Applications of 3D Object Detection and Tracking. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/4N1K-GK74. https://resolver.caltech.edu/CaltechTHESIS:01152010-143831008

Roy, Anthony Mathew (2010) Neuro-Evolution Using Recombinational Algorithms and Embryogenesis for Robotic Control. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/YNED-VN66. https://resolver.caltech.edu/CaltechTHESIS:06092010-140839602

2009

Hudson, Nicolas Henry (2009) Inference in Hybrid Systems with Applications in Neural Prosthetics. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/REB5-BB43. https://resolver.caltech.edu/CaltechETD:etd-12312008-184713

2008

Fontaine, Ebraheem Ihsan (2008) Automated Visual Tracking for Behavioral Analysis of Biological Model Organisms. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/TSQ7-SN68. https://resolver.caltech.edu/CaltechETD:etd-05272008-161801

Jiang, Hao (2008) Adaptive Feature Selection in Pattern Recognition and Ultra-Wideband Radar Signal Analysis. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/7NR6-AR24. https://resolver.caltech.edu/CaltechETD:etd-05302008-134607

Liang, Yongqiang (2008) Robotic Training for Motor Rehabilitation after Complete Spinal Cord Injury. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/T01R-P904. https://resolver.caltech.edu/CaltechETD:etd-09202007-135027

Wolf, Michael Timothy (2008) Target Tracking Using Clustered Measurements, with Applications to Autonomous Brain-Machine Interfaces. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/6Y3F-8M87. https://resolver.caltech.edu/CaltechETD:etd-05292008-105504

2007

Cai, Lance Lin-Lan (2007) Robotics Training Algorithms for Optimizing Motor Learning in Spinal Cord Injured Subjects. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/EH12-WD80. https://resolver.caltech.edu/CaltechETD:etd-08142006-165844

Chung, Timothy Hahn Deut (2007) Intelligent Information-Gathering: Using Control for Sensing and Decision-Making. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/V5S4-4197. https://resolver.caltech.edu/CaltechETD:etd-05312007-024822

Polsenberg Thomas, AnnMarie (2007) Exploration into the Feasibility of Underwater Synthetic Jet Propulsion. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/72SZ-T823. https://resolver.caltech.edu/CaltechETD:etd-09252006-134742

2006

Branchaud, Edward Allan (2006) A Control System for Positioning Recording Electrodes to Isolate Neurons in Extracellular Recordings. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/6HHC-5456. https://resolver.caltech.edu/CaltechETD:etd-06042006-160620

Gillula, Jeremy Hugh (2006) A Probabilistic Framework for Real-Time Mapping on an Unmanned Ground Vehicle. Senior thesis (Minor), California Institute of Technology. doi:10.7907/SXNY-XG55. https://resolver.caltech.edu/CaltechThesis:01112018-111923389

Kriechbaum, Kristopher Lars (2006) Tools and Algorithms for Mobile Robot Navigation with Uncertain Localization. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/R6YB-NQ21. https://resolver.caltech.edu/CaltechETD:etd-06012006-150109

Pfister, Samuel Thomas (2006) Algorithms for Mobile Robot Localization and Mapping, Incorporating Detailed Noise Modeling and Multi-scale Feature Extraction. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/FN3J-M568. https://resolver.caltech.edu/CaltechETD:etd-05262006-130209

Williams, Kjerstin Irja (2006) Multi-robot Systems: Modeling Swarm Dynamics and Designing Inspection Planning Algorithms. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/G1T2-FB74. https://resolver.caltech.edu/CaltechETD:etd-05192006-063455

2004

Cao, Shiyan (2004) Spike Train Characterization and Decoding for Neural Prosthetic Devices. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/GK20-5W75. https://resolver.caltech.edu/CaltechETD:etd-07232003-012018

2003

Mason, Richard James (2003) Fluid Locomotion and Trajectory Planning for Shape-Changing Robots. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/MFM1-0866. https://resolver.caltech.edu/CaltechETD:etd-05292003-160843

Radford, James Edward (2003) Symmetry, Reduction and Swimming in a Perfect Fluid. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/CE65-XM80. https://resolver.caltech.edu/CaltechETD:etd-06042003-181857

Vela, Patricio Antonio (2003) Averaging and Control of Nonlinear Systems. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/N7HH-PM67. https://resolver.caltech.edu/CaltechETD:etd-05282003-094253

2002

Murphey, Todd David (2002) Control of Multiple Model Systems. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/17Q7-Y019. https://resolver.caltech.edu/CaltechETD:etd-07312002-091923

1999

Laubach, Sharon Lynn (1999) Theory and experiments in autonomous sensor-based motion planning with applications for flight planetary microrovers. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/b1wv-hc78. https://resolver.caltech.edu/CaltechETD:etd-02202008-130626

Slatkin, Andrew Brett (1999) Modeling and Experiments for a Class of Robotic Endoscopes. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/NG6V-TD44. https://resolver.caltech.edu/CaltechETD:etd-10112006-154843

1998

Frank, Timothy S. (1998) Computing with spiking neurons. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/vf21-gw62. https://resolver.caltech.edu/CaltechETD:etd-02042008-110206

Goodwine, John William (1998) Control of stratified systems with robotic applications. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/49h9-q898. https://resolver.caltech.edu/CaltechETD:etd-01232008-144001

Lin, Qiao (1998) Mechanics and Planning of Workpiece Fixturing and Robotic Grasping. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/1d4m-j065. https://resolver.caltech.edu/CaltechETD:etd-01302008-111854

1997

Sur, Sudipto (1997) Robotic manipulation with flexible link fingers. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/RVP5-Q254. https://resolver.caltech.edu/CaltechETD:etd-01172008-092801

Van Nieuwstadt, Michiel Jacques (1997) Trajectory generation for nonlinear control systems. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/9X7P-A431. https://resolver.caltech.edu/CaltechETD:etd-01172008-085534

1996

Choset, Howard Marc (1996) Sensor Based Motion Planning: The Hierarchical Generalized Voronoi Graph. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/49ee-a204. https://resolver.caltech.edu/CaltechETD:etd-12182007-090504

Ostrowski, James Patrick (1996) The mechanics and control of undulatory robotic locomotion. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/Y1TF-RF86. https://resolver.caltech.edu/CaltechETD:etd-10202005-153514

1994

Cetin, Bedri Cag (1994) TRUST : a new global optimization methodology, application to artificial neural networks, and analog VLSI implementation. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/gf87-7y12. https://resolver.caltech.edu/CaltechETD:etd-10192005-153248

Chen, I-Ming (1994) Theory and Applications of Modular Reconfigurable Robotic Systems. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/2AAA-RY45. https://resolver.caltech.edu/CaltechETD:etd-10202005-090745

1992

Chirikjian, Gregory Scott (1992) Theory and Applications of Hyper-Redundant Robotic Manipulators. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/F12D-0X25. https://resolver.caltech.edu/CaltechETD:etd-11082006-132210