Robotics. Mechanics, planning, and control of robotic manipulation (juggling, throwing, pushing, rolling, vibration, etc.); self-organizing systems, particularly decentralized control of mobile sensor networks; motion planning and control for underactuated dynamic systems; human/robot collaboration; industrial applications.

Principles of Robot Motion, by Howie Choset, Kevin Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia Kavraki, and Sebastian Thrun, MIT Press, 2005. Amazon listing. Covers bug algorithms, configuration space, potential function methods, roadmaps, cell decomposition approaches, sampling-based algorithms (PRM's, RRT's, etc.), Kalman filtering, Bayesian methods, robot dynamics, trajectory planning for dynamic systems, and nonholonomic and underactuated systems.

Co-director, Laboratory for Intelligent Mechanical Systems