Sarah Tang

Ph.D Candidate, Mechanical Engineering and Applied Mechanics
University of Pennsylvania
 

I am currently a Ph.D candidate in Mechanical Engineering and Applied Mechanics at the University of Pennsylvania. I work in the GRASP lab with Dr. Vijay Kumar. I am interested in developing real-time planning algorithms for complex dynamical systems (systems with high degrees of freedom, are under-actuated, or have hybrid dynamics) that are able to offer algorithmic guarantees. In particular, I am working on techinques for enabling aggressive and cooperative manipulation of suspended payloads by autonomous quadrotors.

I received my M.S.E. degree in Robotics from UPenn in December 2015. I completed my B.S.E. degree in Mechanical and Aerospace Engineering at Princeton University in June 2013, where I worked with Dr. Robert Stengel and Dr. Christopher M. Clark.

 

CV [Last updated Feb. 26, 2016]


Publications

Conference Proceedings


Sarah Tang, Justin Thomas, and Vijay Kumar. "Safe navigation of quadrotor teams to labeled goals in limited workspaces". In International Symposium on Experimental Robotics (ISER), 2016. [PDF] [Bibtex]

Sarah Tang and Vijay Kumar. "Safe and complete trajectory generation for large teams of robots with higher-order dynamics". In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016. [PDF] [Bibtex]

Sikang Liu, Michael Watterson, Sarah Tang, and Vijay Kumar. "High speed navigation for quadrotors with limited onboard sensing". In IEEE International Conference on Robotics and Automation (ICRA), 2016. [PDF] [Bibtex]

Sarah Tang and Vijay Kumar. "A complete algorithm for generating safe trajectories for multi-robot teams". In International Symposium on Robotics Research (ISRR), 2015. [PDF] [Bibtex]

Sarah Tang and Vijay Kumar. "Mixed integer quadratic program trajectory generation for a quadrotor with a cable-suspended payload". In IEEE International Conference on Robotics and Automation (ICRA), 2015. [PDF] [Bibtex]

Dylan Shinzaki, Chris Gage, Sarah Tang, Mark A. Moline, Barrett Wolfe, Christopher G. Lowe, and Christopher M. Clark. "A multi-AUV system for cooperative tracking and following of leopard sharks". In IEEE International Conference on Robotics and Automation (ICRA), 2013. [PDF] [Bibtex]

Ammar Husain, Heather Jones, Balajee Kannan, Uland Wong, Tiago Pimentel, Sarah Tang, Shreyansh Daftry, Steven Huber, and William L. "Red" Whittaker. "Mapping planetary caves with an autonomous, heterogeneous robot team". In IEEE Aerospace Conference, 2013. [PDF] [Bibtex]

Sarah Tang, Dylan Shinzaki, Chris G. Lowe, and Chris M. Clark. "Multi-robot control for circumnavigation of particle distributions". In International Symposium on Distributed Autonomous Robotic Systems (DARS), 2012. [PDF] [Bibtex]

Sarah Tang and Afzal Godil. "An evaluation of local shape descriptors for 3D shape retrieval". In IS&T/SPIE Electronic Imagining, Three-Dimensional Image Processing (3DIP) and Applications II, 2012. [PDF] [Bibtex]

Workshops and Posters


Sarah Tang and Vijay Kumar. "Translating paths into optimal trajectories for safe coordination of teams of dynamic robots". In Robotics: Science and Systems (RSS), Workshop on On-line Decision-Making in Multi-robot Coordination, 2016.

Sarah Tang and Vijay Kumar. "Planning aggressive maneuvers for a quadrotor with a cable-suspended payload". In IEEE International Conference on Robotics and Automation (ICRA), Becoming a Robot Guru: Integrating Science, Engineering, and Creativity Workshop, 2015. [Poster] [Bibtex]

Sarah Tang, Koushil Sreenath, and Vijay Kumar. "Aggressive maneuvering of a quadrotor with a cable-suspended payload". In Robotics: Science and Systems, Workshop on Women in Robotics, 2014. [Poster] [Bibtex]

Technical Reports


"Aggressive maneuvering of a quadrotor with a cable-suspended payload". University of Pennsylvania Qualification Report, 2014. [Report]

"Vision-based formation control for Parrot AR.Drones". Princeton University Senior Thesis, 2013.

Safe Navigation of Quadrotor Teams to Labeled Goals in Limited Workspaces

October 2016

High Speed Navigation for Quadrotors with Limited Onboard Sensing

February 2016

University of Pennsylvania Interdisciplinarity Talks (iTalks) Competition

April 2015

IEEE Spectrum Article

October 2014

Mixed Integer Quadratic Program Trajectory Generation for a Quadrotor with a Cable-Suspended Payload

October 2014

Contact


Snail mail:

Sarah Tang
MEAM University of Pennsylvania
229 Towne Building
220 S. 33rd Street
Philadelphia, PA 19104-6315

Email: sytang[at]seas[dot]upenn[dot]edu