Browse by Committee Member

2025

Cosner, Ryan Kazuo (2025) Dynamic Safety Under Uncertainty: A Control Barrier Function Approach. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/eee7-0m74. https://resolver.caltech.edu/CaltechTHESIS:06022025-015834886

Csomay-Shanklin, Noel V. (2025) Layered Control Architectures: Constructive Theory and Application to Legged Robots. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/k0ns-c606. https://resolver.caltech.edu/CaltechTHESIS:06032025-023615578

Hooper, Meredith Leigh (2025) Machine-Learned Propulsion Strategies: From Adaptive Damage Compensation to Advanced Aeromobility. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/79aa-ja50. https://resolver.caltech.edu/CaltechTHESIS:06042025-002343274

Kargin, Taylan (2025) Reliable Autonomy Under Uncertainty: From Learning-Based to Non-Rational Control. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/838c-yz69. https://resolver.caltech.edu/CaltechTHESIS:06092025-233932460

2024

Badithela, Apurva Srinivas (2024) Test and Evaluation of Autonomous Systems: Reactive Test Synthesis and Task-Relevant Evaluation of Perception. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/e8qz-rd26. https://resolver.caltech.edu/CaltechTHESIS:06022024-014038700

Wei, Skylar Xueyao (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

Akella, Prithvi (2023) Reliable Controller Synthesis: Guarantees for Safety-Critical System Testing and Verification. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/jej3-4444. https://resolver.caltech.edu/CaltechTHESIS:06122023-162907795

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

Gehlhar, Rachel (2023) Model-Based Lower-Limb Powered Prosthesis Control: Developing and Realizing Nonlinear Subsystem Control Methods for Generalizable Prosthesis Control. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/6724-6e14. https://resolver.caltech.edu/CaltechTHESIS:01072023-214003146

Taylor, Andrew James (2023) Robust Safety-Critical Control: A Lyapunov and Barrier Approach. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/bpht-by81. https://resolver.caltech.edu/CaltechTHESIS:06022023-032907616

Tucker, Maegan Lindsay (2023) Enabling Robust and User-Customized Bipedal Locomotion on Lower-Body Assistive Devices via Hybrid System Theory and Preference-Based Learning. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/j9hk-xa17. https://resolver.caltech.edu/CaltechTHESIS:04292023-003436131

2022

Ambrose, Eric Ryan (2022) Creating ARCHER: A 3D Hopping Robot with Flywheels for Attitude Control. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/gbts-va63. https://resolver.caltech.edu/CaltechTHESIS:06012022-061623441

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

Singletary, Andrew Wills (2022) Safe Input Regulation for Robotic Systems. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/zz10-gv06. https://resolver.caltech.edu/CaltechTHESIS:06022022-064735213

2021

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

Ma, Wen-Loong (2021) From Bipedal to Quadrupedal Locomotion, Experimental Realization of Lyapunov Approaches. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/j1ty-zb28. https://resolver.caltech.edu/CaltechTHESIS:05042021-155258800

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

Reher, Jenna (2021) Dynamic Bipedal Locomotion: From Hybrid Zero Dynamics to Control Lyapunov Functions via Experimentally Realizable Methods. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/h8v0-vd47. https://resolver.caltech.edu/CaltechTHESIS:05282021-062435188

Xiong, Xiaobin (2021) Reduced Order Model Inspired Robotic Bipedal Walking: A Step-to-step Dynamics Approximation based Approach. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/9bz9-x102. https://resolver.caltech.edu/CaltechTHESIS:06022021-035141903

2020

Gurriet, Thomas (2020) Applied Safety Critical Control. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/y97v-b205. https://resolver.caltech.edu/CaltechTHESIS:06022020-154234707

Ronchi, Matteo Ruggero (2020) Vision for Social Robots: Human Perception and Pose Estimation. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/n2v1-1g79. https://resolver.caltech.edu/CaltechTHESIS:05212020-155425112

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