Joseph Moore
Joseph L. Moore is an assistant professor in the Department of Mechanical Engineering at Johns Hopkins University and director of the Agile and Intelligent Robotics (AIRO) Laboratory. He holds a bridging faculty appointment at the Johns Hopkins University Applied Physics Laboratory (JHU/APL), where he previously served as Robotics Group Chief Scientist. His research focuses on computational control, machine learning, and trajectory optimization for agile robotic systems, with notable contributions to robust post-stall perching and maneuvering of fixed-wing aerial vehicles. He received his Ph.D. in Mechanical Engineering from MIT, where he developed control algorithms for autonomous fixed-wing UAV perching.
“Stochastic Multiple Shooting Trajectory Optimization via Sequential Local Policy Evaluation”
Source→“On the cartpole swingup, only multiple shooting achieved convergence to the terminal set, with a mean terminal cost of 23.8 versus 130.3 for MPPI and 123.4 for single-shooting CEM (Table I).”
Source→“MPPI has become 'ubiquitous in the robotics community' (Section II-C) and is widely deployed in autonomous driving, drone racing, and manipulation. Yet this paper shows it completely fails to satisfy terminal constraints on both the cartpole and VTOL landing tasks”
Source→“The method is validated on a VTOL quadplane with a 22-dimensional state space and 9-dimensional input space—far beyond toy problems. The aircraft performs a precision post-stall landing maneuver, starting from 15 m/s cruise at 15 m altitude, landing 30 m downrange within a 1.2 m radius sphere and sub-2.5 m/s velocity in all axes”
Source→AI-extracted from podcast / newsletter / paper summaries. May contain errors.