Published in Science Robotics, IEEE RAL, IROS, and ICRA. For a complete and up-to-date list, see my Google Scholar profile.
peer-reviewed papers
"Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics" (2026)
IEEE Robotics and Automation Practice | With M. Booker, J. Wallace, T. Fischer
arxiv →
"From the desks of ROS maintainers: A survey of modern & capable mobile robotics algorithms in ROS 2" (2023)
Robotics and Autonomous Systems | With T. Moore, DV Lu, A. Merzlyakov, M. Ferguson
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"Regulated Pure Pursuit for Robot Path Tracking" (2023)
Autonomous Robots | With S. Singh, F. Martin, J. Gines
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"Impact of ROS 2 Node Composition in Robotic Systems" (2023)
IEEE RAL | With A. Soragna, M. Carroll, Z. Ge
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"Robot Operating System 2: Design, architecture, and uses in the wild" (2022)
Science Robotics vol. 7 | With T. Foote, B. Gerkey, C. Lalancette, W. Woodall
science.org →
"A Comparison of Modern General-Purpose Visual SLAM Approaches" (2021)
IEEE/RSJ IROS | With A. Merzlyakov
arxiv →
"SLAM Toolbox: SLAM for the dynamic world" (2021)
Journal of Open Source Software 6(61):2783 | With I. Jambrecic
joss →
"The Marathon 2: A Navigation System" (2020)
IEEE/RSJ IROS | Finalist RoboCup Best Paper Award | With F. Martin, R. White, JG Clavero
ieeexplore →
"Spatio-temporal voxel layer: A view on robot perception for the dynamic world" (2020)
Int'l Journal of Advanced Robotic Systems 17(2) | Top 20 Read | With D. Tsai, M. Feinberg
sagepub →
"Motion planning for dual-arm manipulation of elastic rods" (2020)
IEEE Robotics and Automation Letters 5(4) | With A. Sintov, A. Borum, T. Bretl
ieeexplore →
"In-Situ Sample Collection Tool Design and Analysis" (2017)
55th AIAA Aerospace Sciences Meeting | With AW Case, PA DeTrempe
aiaa →
"MOSAIC: Mars Orbiting Satellites for Advanced Interplanetary Communication" (2016)
Society of Satellite Professionals International | With C. Lorenz, A. Bacula, et al.
talks, keynotes & industry
ICRA 2026 - IFR/IEEE Finalist IERA Award Plenary Speaker
iRoboCity Summer School 2026 - Invited Plenary: "ROS 2 and Nav2 Overview"
Oregon State University Rob599 - "Nav2 & ROS 2 Overview" (2026)
CDA 1Tenth Stakeholder Group - Update Meeting Presentation (2025)
ROSCon 2025 - "On Use of Nav2 Route Server"
vimeo →
ROSCon 2024 - "On Use of Nav2 Docking"
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Actuate 2024 - "Mastering Nav2: Techniques and Applications"
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NVIDIA Webinar - "Nav2 Autonomous Docking With Isaac ROS" (2024)
nvidia →
ROSCon 2023 - "On Use of Nav2 MPPI Controller"
vimeo →
Sense Think Act Podcast - Ep. 13 (2022)
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University of Illinois Aerospace Engineering - Guest Lecture (2022)
ROSCon 2022 - "On Use of Nav2 Smac Planners"
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ROSCon Japan 2021 - Invited Headline Keynote
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ROS Developer's Day 2021 - Invited Headline Keynote
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Weekly Robotics Meetup - "Coffee with Nav2" (2021)
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ROS World 2020 - Invited Keynote
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TechCrunch Sessions 2020 - "Building Robotics Platforms"
techcrunch →
RoboBusiness - "The Life and Times of ROS2" (2020)
robobusiness →
Oregon State University Rob599 - "Overview of ROS 2 for Mobile Robot Users" (2020)
Autoware Academy - "State Estimation for Localization" (2020)
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Illini Aero Connections - Aerospace Career Panel (2020)
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ROS Developer's Podcast #76 - "ROS2 Navigation Stack" (2020)
listen →
ROSCon 2019 - "On Use of SLAM Toolbox"
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Silicon Valley Robotics - ROSCon Rewind on SLAM Toolbox (2019)
ROS Developer's Podcast #56 - Top 3 Listened 2019
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ROSCon 2018 - "On Use of the Spatio-Temporal Voxel Layer"