Wasserstein Distributionally Robust Control and State Estimation(WDR-CE)
Submitted to IEEE TAC (under review) 
2D trajectory tracking control where each controller has nominal disturbance and noise distributions derived from statistical learning methods, which inherently contain errors 
Objective- Generate a smooth trajectory while maintaining low cost
Presented at Institute of Control, Robotics and Systems (ICROS), 2024 
DOB+MPC for quadrotor dynamics, including unmodeled dynamics 
VTOL Takeoff 
VTOL before-takeoff 
Full mission overview 
3d flight log 
Landing algorithm for a glider (without motor!) launched from a mothership at a 100m altitude 
SITL results
Second VTOL Project 
First VTOL Project 
Quadrotor Build and Fly Seminar 
Length Adjustable Landing Gear 