My recent research interests include the design and control of marine robots, mobile sensor networks, human aware control and planning, and cyber-physical systems theory. My program balances theory and applications. My research work on mobile sensor networks aims to answer the challenge of monitoring large areas in the Ocean and Atmosphere with limited sensing resources and limited power. I am interested in cyber-physical systems that integrates control theory, embedded systems and distributed sensing algorithms with real world applications that are constrained by environmental disturbances and limited power. I have published articles in major journals on theoretical control and robotics. Meanwhile, my theoretical contributions are implemented on actual robots and sensor networks.