Sarah Tang

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

I am currently a Ph.D student in Mechanical Engineering and Applied Mechanics at the University of Pennsylvania. I work in the GRASP lab with Dr. Vijay Kumar. My research interests are in aerial robotics, hybrid dynamical systems, and multi-robot cooperation. More specifically, I am currently working on aggressive manipulation of cable-suspended payloads with quadrotor systems.

I recieved my B.S.E. degree in Mechanical and Aerospace Engineering from Princeton University in June 2013. My senior thesis was titled "Vision-based control for autonomous quadrotor UAVs" and was advised by Dr. Robert Stengel.




Conference Proceedings

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

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]


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. [Report]

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


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