Oliver Purwin
Email: op24(at)cornell(dot)edu
Ph.D. Program
Department of
Mechanical and Aerospace Engineering
Cornell University
My Ph.D. work
I’m working on several projects in the area of dynamics and controls. The common theme is control and trajectory generation for autonomous vehicles. My main project is the AFV (see below), but I have spent several years building little soccer playing robots for RoboCup. Follow the RoboCup link for more information and some cool video footage.
The Autonomous Flying Vehicle (AFV):
The AFV is an autonomous helicopter with four rotors. It serves as a platform to test new controls algorithms on. I’m working on this project together with Dr. Jinwoo Lee who is taking care of the electronics, while I’m responsible for the mechanical hardware, state estimation and control.
Below are video clips of the first successful hover tests using the new PC104 based vehicle.
- Video clip 1: short stable hover of the AFV (approx. 10 MB, quicktime)
- Video clip 2: stable hover of the AFV (approx. 10 MB, quicktime)
Publications and related links:
- Purwin O., D'Andrea R.: “Path Planning by Negotiation for Decentralized Agents with Proof”, a shorter version has been submitted to the ACC 2007
§ PathPlanner video: Appetizer, WMV, 7 MB
§ PathPlanner video: Main, WMV, 14 MB
§ PathPlanner video: Simulator, AVI, 5 MB
§ PathPlanner C++ code (simulator)
- Lee J., Purwin O.: “Design and Control of a Four-rotor Autonomous Flying Vehicle”, submitted to ICRA 2006
- Purwin, O., D'Andrea R.: “Continuity and Monotonicity Properties of an Optimally Controlled Double Integrator with State and Input Constraints”, TR2005-2001, Cornell University Library Technical Reports and Papers, 2005, http://techreports.library.cornell.edu
- Purwin O., D'Andrea R.: “Trajectory Generation for Four Wheeled Omnidirectional Vehicles”, Proceedings of the American Control Conference 2005, 8-10 June 2005, pp. 4979-4984
§ Simulation files (Matlab and RIOTS)
§ Video clip 1: robot moving (approx. 5 MB, MPG 1)
§ Video clip 2: robot moving (approx. 5 MB, MPG 1)
§ Video clip 3: robot moving (approx. 5 MB, MPG 1)
- Malone E., Purwin, O., Lipson H., (2004) “Application of Machine Learning Methods to the Open-Loop Control of a Freeform Fabrication System”, Proceedings of the 15th Solid Freeform Fabrication Symposium, Austin TX, Aug 2004, pp.377-388
- Purwin O., D'Andrea R.: “Cornell Big Red 2003”, in: Polani D., Bonarini A., Browning B., Yoshida K. (Eds), Robocup 2003: Robot Soccer World Cup VII, Lecture Notes in Artificial Intelligence, Springer, Berlin, 2003