Acknowledgements
During my time at Penn I have learned a lot, worked on interesting research projects, and
had fun. I am grateful to everyone who contributed to any of those things.
Specifically, I would first like to thank my advisor, Vijay Kumar, for all of his support
during my time at Penn. I have enjoyed the projects we worked on together and his
willingness to let me shape the direction of those projects. Vijay is a dedicated advisor, a
talented engineer, and a good person and I am lucky to have had him as a mentor.
I would also like to thank my thesis committee members, Bruce Kothmann, Mark Yim,
Ali Jadbabaie and Raff D’Andrea, for taking the time to serve on my committee. Bruce has
been especially helpful and has always been excited to talk with me about aerodynamics,
controls, or whatever math puzzle he is thinking about at the time.
My many friends and colleagues at Penn have made it a fun place to work. I thank
them for all the good times inside and outside the lab.
I am indebted to my family for the love and support they have given me over the years.
My older sister, Corie, gave me a head start by teaching me whatever she learned in school.
My parents gave me every opportunity and allowed me to choose my own direction in life.
I can’t thank them enough for everything they have done for me.
Last but not least, I thank my wife Anna who always believes in me and always makes
me smile.
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