I work at the intersection of dynamics and control in a differential geometric framework with a keen interest in implementation. A geometric treatment of dynamics and control often enables the topological properties of the underlying manifold to dictate certain essential characteristics of the system, which are otherwise not possible. As part of my PhD research, I've used techniques from the field of geometric control to design and implement singularity-free attitude controllers for aerobatic helicopters and a novel VTOL tailsitter.

I've also worked on developing the NAAVIK autopilot. NAAVIK is a cross-platform autopilot, providing guidance and control algorithms for performing fully autonomous waypoint navigation for helicopters, multirotors and fixed-wing vehicles.