field robotics lab

Northeastern University’s Field Robotics lab is run under the direction of Professor Hanumant Singh. Our group of students, faculty, and collaborators work on diverse interests including photomosaicking, visual-based navigation, 3D image reconstruction, image segmentation and classification, and chemical sensors. We work with manned submersibles, remotely operated and tethered vehicles, and autonomous underwater vehicles on different aspects of these systems including docking, navigation, manipulation and software for autonomous operations.

Our research continues to take us on expeditions all over the world.

Thank you to our sponsors – ONRNSFNOAA, NASA, AFRL, and others.

CURRENT PERSONNEL

Hanumant Singh

Hanumant Singh

Professor

Hanumant Singh joined Northeastern University’s Electrical and Computer Engineering department in January 2016. Hanumant’s interests include system architecture and algorithms for high resolution acoustic, optical, and chemical sensing; underwater vehicles (AUV, ROV, towed and Manned Vehicles); system architectures for navigation, docking and power; and the interactions between these subsystems. Contact Hanumant at ha.singh@northeastern.edu.

Please include Laura Whitmer at l.whitmer@northeastern.edu on all program-related inquires.

Mithun Diddi

Mithun Diddi

PhD Student

Mithun Diddi is a Ph.D candidate at Field Robotics Lab, Institute for Experiential Robotics at Northeastern University. He received his Master’s degree in Mechatronics Engineering from Northeastern University, Boston in 2018 and Bachelor’s degree in Mechatronics Engineering from SRM University, India in 2015. Mithun’s research interests include system integration, computer vision, and all-day autonomy. Contact Mithun at diddi.m@northeastern.edu

Pushyami Kaveti

Pushyami Kaveti

PhD Student

Pushyami Kaveti is a PhD candidate at the Field Robotics Laboratory from Khoury College of Computer Sciences. She received her Masters in Computer Science from University of Florida in 2014 and worked at a startup for two years as a computer vision engineer developing calibration algorithms for structured light sensors. Pushyami’s research lies at the intersection of sensor fusion, computer vision and machine learning, focused on achieving long-term autonomy for robot perception in complex and dynamic real-world scenarios. Contact Pushyami at kaveti.p@northeastern.edu

Colin Keil

Colin Keil

PhD Student

Colin Keil completed is B.S. and Masters of Engineering in Mechanical Engineering at Cornell University in 2015 and 2016 respectively. Prior to starting his PhD at Northeastern, he worked at Ultra Motion, an aerospace actuator manufacturer. His main research interests focus on the intersection between code and robotics hardware applied to perception and planning in real-world environments. Colin’s current work focuses on perception for grasping, mobile robot grasping tasks, and haptic-SLAM. Contact Colin at keil.c@northeastern.edu.

Jagatpreet Nir

Jagatpreet Nir

PhD Student

Jagatpreet Nir is a PhD student exploring the area of robotic navigation algorithms. He is interested in discovering new ways to improve accuracy of Visual Inertial Navigation algorithms with bounded computational effort. Before starting his PhD, Jagatpreet worked at the Indian Institute of Technology, Delhi (IITD) as a research associate on non-linear control of multi-fingered robotic hands. He also worked at a mechatronics startup as a design engineer developing motion simulators for driving training. Contact Jagatpreet at nir.j@northeastern.edu.

Vikrant Shah

Vikrant Shah

PhD Student

Vikrant Shah is a PhD candidate at the Field Robotics Laboratory. He received his Bachelors in Mechanical Engineering from University of Texas at Austin in 2005 and his Masters in Mechanical Engineering from the Massachusetts Institute of Technology / Woods Hole Oceanographic Institution Joint Program in 2007. Vikrant worked for BP as a Subsea Systems Engineer for eight years developing innovative intervention techniques and cutting edge technologies. His research interests include multi-sensor fusion and robot perception in challenging dynamic environments. Contact Vikrant at shah.vi@northeastern.edu.

Zhiyong Zhang

Zhiyong Zhang

PhD Student

Zhiyong Zhang is a second year Ph.D. student in Electrical and Computer Engineering. During his time at Northeastern, he has worked on obstacle avoidance and path planning algorithms for Jetyak, the autonomous surface vessel. He also worked on fish detection with deep neural networks for machine learning. Currently Zhiyong is focusing on infrared image registration in his research. Contact Zhiyong at zhang.zhiyo@northeastern.edu.

Yiwei Gan

Yiwei Gan

Master's Student

Yiwei Gan is a Robotics Master’s student. He studied mechanical engineering as an undergraduate before transiting to the software side of robotic engineering at Northeastern. In the NEU Field Robotics lab, he is working on a 3D SLAM with multiple sensors (IMU, GPS, LiDar) that constructs 3D maps as the robot moves to unknown environments. Yiwei also assists the team in constructing and maintaining hardware like drones and the autonomous driving car. Contact Yiwei at gan.yi@northeastern.edu

Stephen Hagen

Stephen Hagen

Master's Student

Stephen Hagen is a Master’s student in the Robotics department with a focus in controls. He is working on a project that investigates autonomous driving in locations with mixed traffic conditions and weak lane discipline. He also works on the assembly and maintenance of several AUVs in the lab. Contact Stephen at hagen.s@northeastern.edu.

Samson Braun

Samson Braun

Master's Student

Samson Braun is a Master’s student in the Electrical and Computer Engineering department. He works with convolutional neural networks to perform fish detection on a large NOAA dataset. He also spends his time working on drone hardware for the Field Robotics lab. Contact Samson at braun.sam@northeastern.edu.

Lincoln Kinley

Lincoln Kinley

Master's Student

Lincoln Kinley is a Master’s student studying Robotics with a specialization in Electrical and Computer Engineering. He received his Bachelor’s degrees in Electrical Engineering and Computer Engineering at Southern Illinois University Carbondale in 2019. His research focuses on using thermal cameras to perform visual inertial navigation on airborne robots. Contact Lincoln at kinley.l@northeastern.edu.
Ben Deming

Ben Deming

Master's Student

Ben Deming is a Master’s student in the Robotics program. He earned his Bachelors’s degree in Mechanical Engineering. His reserach focuses on applying autonomous navigation techniques to the fields of the robotics and aerospace. He is currently working on improved inertial sensor modeling for VIO applications, in addition to small UAS simulation and characterization at the lab. Contact Ben at deming.b@northeastern.edu.

Laura Whitmer

Laura Whitmer

Administrative Assistant

Laura Whitmer joined the Field Robotics team in the Fall of 2020 as an administrative assistant. She has several years of experience in administrative and editorial work. Laura is currently pursuing her Masters of Fine Arts in Fiction from Southern New Hampshire University. Contact Laura at l.whitmer@northeastern.edu

FORMER PERSONNEL

 

Past Postdocs

  • Peter Kimball, Now at Tidal by Google X 

  • Rich Camilli, Now Associate Scientist at WHOI

  • Brendan Foley, Now on research staff at WHOI

  • Brian Bingham, Now Associate Professor at Olin College

  • Ali Can, Now at GE Medical Systems Research Center

  • Thomas Sayre McChord, MIT-WHOI Joint Program – working on Autonomous Surface Craft

  • Yogesh Girdhar, Now on research staff at WHOI

Past Students

  • Dr. Chris Murphy, Now at Bluefin Robotics

  • Dr. Clayton Kunz, Now at Google working on autonomous cars

  • Dr. Geoff Gorman, US Navy

  • Dr. Jeffrey Kaeli, Now research staff at WHOI

  • James Meyers, Towards A Colregs Compliant Autonomous Surface Vessel
  • Grace Young, Graduate Student, Oxford University, UK

  • Antonio Antonellis Rufo, Progress towards LiDar based bicycle detection in urban environments
  • Alyssa McKenna, Graduate Student, U Minnesota

  • Emma Kilfoyle, Now at Amazon

  • Jason Levoy

  • Tarun Uday, Towards Improving Imaging In Scattering Media
  • Qiao Hu*, PhD 2006, Currently Post-doc at WHOI

  • Ryan Eustice, Ph D 2005, Currently Associate Professor  at U of Michigan.

  • Chris Roman, Ph D 2005, Associate Professor at U of Rhode Island

  • Sacha Wichers***, MS 2005, Currently Engineer on the R/V Knorr

  • Oscar Pizarro, Ph D 2004, Now with the Australian Center for Field Robotics, Sydney.

  • Celeste Fowler, Graduate Student, Color Imaging Underwater, 2003-2004

Past Summer Students

  • Grace Young

  • Alyssa McKenna

  • Emma Kilfoyle

  • Jason Levoy

  • Chris Murphy, Summer Student Fellow, Self Calibrating Transponder Navigation, 2005

  • Jeff Kaeli, Guest Student, Coral Segmentation and Classification, 2005.

  • Zachary Berkowitz, Summer Student Fellow, In-situ Chemical Sensors Underwater, 2004

  • Jordan Pekor, Summer Student Fellow, LED array design for underwater imaging, 2003

  • Nicole Nichols, Summer Minority Trainee, A Design for a Depth Upgrade to SeaBED, 2002 and 2003

  • Rajesh Nadakuditi, Summer Student Fellow, Automated mosaicking of optical imagery, 2000

  • **Jane Canulette, Summer Student Fellow, Architectural issues in AUV design, 1999

  • Gregory Fries,Summer Student Fellow, Docking for Ocean Sampling Networks, 1998

  • **Lt Erik Burian, USN, Master’s Thesis, Gradient following with ABE, 1996-1997

  • **Frank Weyer, Graduate Student, Stereo imaging with ABE, 1995-1996

  • **Lt Cmdr Phil LeBas, USN, Master’s Thesis, Control of an AUV at low speeds, 1995-1996

  • **Ralf Bachmayer, Undergraduate Thesis, Bottom following with ABE, 1995

*Co-advised with Cabell Davis
**Co-advised with Dana R. Yoerger
***Co-advised with Rob Sohn