Taosha Fan
Ph.D. Student
Advisor: Todd Murphey
taosha.fan@u.northwestern.edu
Google Scholar
Research
My research lies at the intersection of robotic control, simulation and estimation. I try to develop efficient and guaranteed algorithms for general robotic problems using a combination of optimization, differential geometry and probability theory.
Projects
Control for Nonlinear and Hybrid Systems
Education
M.S.E. Mechanical Engineering, Johns Hopkins University, 2015
M.A. Mathematics, Johns Hopkins University, 2015
B.S. Automotive Engineering, Tongji University, 2013
Other Interests
I'm a fan of swimming and hiking.
Publications
Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation
T. Fan, K. V. Alwala, D. Xiang, W. Xiang, T. D. Murphey, and M. Mukadam
IEEE Int. Conf. on Computer Vision (ICCV), 2021. PDF
CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation
T. Fan, H. Wang, M. Rubenstein, and T. D. Murphey
IEEE Transactions on Robotics, 2020. PDF
Majorization Minimization Methods to Distributed Pose Graph Optimization with Convergence Guarantees
T. Fan and T. D. Murphey
IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2020. PDF
Generalized proximal methods for pose graph optimization
T. Fan and T. D. Murphey
International Symposium on Robotics Research (ISRR), 2019. PDF
CPL-Sync: Efficient and guaranteed planar pose graph optimization using the complex number representation
T. Fan, H. Wang, M. Rubenstein, and T. D. Murphey
IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2019. Winner of ABB Best Student Paper Award. PDF
Efficient computation of higher-order variational integrators in robotic simulation and trajectory optimization
T. Fan, J. Schultz, and T. D. Murphey
Workshop on the Algorithmic Foundations of Robotics (WAFR), 2018. PDF, Appendix, Video
Decentralized and recursive identification for cooperative manipulation of unknown rigid body with local measurements
T. Fan, H. Weng, and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 2842–2849, 2017. PDF
Online feedback control for input-saturated robotic systems on Lie groups
T. Fan and T. D. Murphey
Robotics: Science and Systems Proceedings, 2016. PDF
Structured linearization of discrete mechanical systems on Lie groups: a synthesis of analysis and control
T. Fan and T. D. Murphey
IEEE Int. Conf. on Decision and Control (CDC), pp. 1092 – 1099, 2015. PDF