My name is James Svacha, and I'm currently a Ph.D. student in Electrical and Systems Engineering at the Univeristy of Pennsylvania. My research advisor is Dr. Vijay Kumar, and my focus is on state estimation and control of aerial robots, specifically quadrotors.
I am currently working on novel ways of estimating the velocity and orientation by leveraging the information conveyed through drag effects. These effects make it possible to measure functions of the velocity and orientation using the onboard accelerometer. In addition to state estimation, I have worked on modeling and compensating for drag effects in the control loop.