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Blog

Special Relativity: Part 1

I want to show a derivation of Lorentz boosts from special relativity (SR) from basic principles.
Special Relativity Applet

Decades ago I played a Flash game that did something similar to this. I can’t find it anymore, so I remade it.
Euler–Poincaré and Lagrange–Poincaré Reduction

This entry builds the Euler–Poincaré equation one step at a time, for an arbitrary Lie group. It then adds forces, closes the system, and introduces the momentum map. It ends with Lagrange–Poincaré reduction, which ha...
The Covariant Derivative: How Far is a Curve from Being a Geodesic?

A geodesic is a curve that locally minimizes length, or more conveniently, energy. The covariant derivative of a curve’s time derivative can be thought of as its failure to be a geodesic. I found this to be really nea...
Talk: IEEE CDC 2025 (Rio) — Intrinsic Successive Convexification

I presented our work at IEEE CDC 2025 in Rio de Janeiro, Brazil.
Best Student Paper Award — IEEE CDC 2024

I’m grateful to share that our work received the Best Student Paper Award at IEEE CDC 2024.
Talk: IEEE CDC 2024 — Using Riemannian Optimization to Learn Optimal Controllers

I presented this work at IEEE CDC 2024 in Milan, Italy.
Talk: NASA Johnson Space Center — Trajectory Optimization over Riemannian Manifolds

I gave a research showcase talk at NASA Johnson Space Center on trajectory optimization over Riemannian manifolds.
Talk: IEEE CDC 2023 — Distributed Computation of Geometric Quantities

I presented this work at the 62nd IEEE Conference on Decision and Control (CDC 2023) in Singapore.
Talk: CCTA 2023 — Synchronization on Riemannian Manifolds

I gave this conference talk at IEEE CCTA 2023 in Bridgetown, Barbados.
UW Aero & Astro Research Showcase (3rd Place)

At the 1st UW Aero & Astro Research Showcase, I presented work on consensus over Lie groups and received 3rd place.