Current research interests include:

Robot and Vehicle Dynamics:

Mathematical modeling of robots and vehicles, including multi-body systems, marine craft hydrodynamics, aerodynamics, and vehicle/vessel simulators.
#Marine craft model

Model-Based and Learning-Enhanced Control and Perception:

Combining first-principles models and machine learning, including reinforcement learning, for vehicle perception and control.

Guidance, Navigation and Control (GNC):

Autonomous and intelligent GNC systems for field robots, marine craft, aircraft, and unmanned vehicles (UAV, AUV, USV). Design of autopilots, trajectory tracking, and path-following control systems.
#Attitude control #Path following

Inertial Navigation Systems (INS):

GNSS- and compass-denied navigation, aiding techniques, attitude estimation on SO(3), sensor fusion and state estimation, nonlinear observer theory, and Kalman filtering.
#Attitude estimation #Sea-state estimation

Cybersecurity:

Real-time encryption of feedback control and sensory signals, cryptology, stream chiper, and authentication methods. Resilence against navigation spoofing and hijacking of autonomous vehicles.
#Cybersecurity