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My name is Dan. I am a Ph.D. student in robotics at Carnegie Mellon University advised by Professor Michael Kaess.

My research goal is to develop holistic multi-robot perception that enables multi-robot teams to understand their relation to an environment (State Estimation) as well as provide a deep contextual understanding of that environment (Mapping). Specifically, I want to build perception algorithms that scale to the needs of future applications and are actually deployable in the real-world

In my undergrad career I worked with Professor Taskin Padir and a fantastic team on NASA’s Mars Ice Challenge, and started Northeastern’s Chapter of Students for the Exploration and Development of Space (NUSEDS).

For more info on my projects check out my research page.

Updates

• May, 2024
  • Our paper “iMESA: Incremental Distributed Optimization for Collaborative Simultaneous Localization and Mapping” was accepted to RSS 2024
• April, 2024
  • Our 2024 ICRA paper “Asynchronous Distributed Smoothing and Mapping via On-Manifold Consensus ADMM” was nominated for IEEE ICRA Best Paper Award on Multi-Robot Systems
• Jan, 2024
  • Our paper “Asynchronous Distributed Smoothing and Mapping via On-Manifold Consensus ADMM” was accepted to ICRA 2024
• May, 2023
  • I started by internship with NASA JPL where I will work on the Exobiology Extant Life Surveyor (EELS) project!
• Jan, 2023
  • Our paper “Robust Incremental Smoothing and Mapping (riSAM) was accepted to ICRA 2023
• June, 2022
  • I started my internship with NASA Goddard where I will spend the summer researching methods for Lunar localization.
• April, 2022
  • I was accepted the National Science Foundation’s Graduate Research Fellowship Program!