My dissertation concerned an application of metric geometry to the problem of reconfiguring robotic systems.
I’m providing it here for any of my students who may be curious what doctoral-level math looks like—or what I was talking about in class that time I was saying how moving a robot arm with two 360° joints is like drawing a curve on a donut.
- If you’re viewing this in a browser, use the slideshow presentation WITHOUT animations.
- Here’s a version of the slideshow WITH animations. Don’t view it in a browser.
- The animations will play in Adobe Reader if you click on the first broken movie icon you see and choose “Trust this document”:
- The human-readability of the dissertation itself—“The Markov-Dubins problem with free terminal direction in a nonpositively curved cube complex”—can be guessed at based on the title. Some of the pictures (starting at p. 95, say) are pretty neat, though.