Curriculum Vitae
Brooks L. Reed
April 20, 2015Contact Information
Massachusetts Institute of Technology77 Massachusetts Ave., Room 5-207
Cambridge, MA 02139
email brooksr8 [at] mit.edu
Research Interests
Dynamics and feedback control, convex and discrete optimization, estimation, communication-constrained control, model predictive control, multi-agent systems, marine roboticsEducation
Massachusetts Institute of Technology (MIT), Cambridge, MAWoods Hole Oceanographic Institute (WHOI), Woods Hole, MA
PhD, MIT/WHOI Joint Program in Oceanographic Engineering, December 2014
Thesis: “Controller Design for Underwater Vehicle Systems with Communication Constraints”
SM, MIT/WHOI Joint Program in Oceanographic Engineering, August 2011
Thesis: “Multiple-vehicle Resource-constrained Navigation in the Deep Ocean”
Advisors: Prof. Franz Hover (MIT), Dr. Dana Yoerger (WHOI)
Massachusetts Institute of Technology, Cambridge, MA
SB, MIT Mechanical and Ocean Engineering, June 2009
Awards
Wunsch Foundation Silent Hoist and Crane Award, 2014Awarded to students in the Mechanical Engineering department who have conducted outstanding research.
Sheridan Prize for Creativity in Man-Machine Integration, 2012
Awarded to one graduate student each year from the Mechanical Engineering department.
MIT Presidential Fellowship, 2009-2010
Awarded to 110-125 outstanding new graduate students, selected by the President and Provost.
Robert Bruce Wallace Academic Prize, 2008-2009
Awarded to one student each year from the Mechanical and Ocean Engineering department to receive full tuition and a stipend for their senior year.
Publications
Peer-reviewed Journal
Reed, B. and F. Hover, “Oceanographic Pursuit: Networked Control of Multiple Vehicles Tracking Ocean Processes,” Methods in Oceanography, Special Issue on Autonomous Vehicles, May 2014.Refereed Conference
Reed, B., Leighton, J., Stojanovic, M. and F. Hover, “Multi-Vehicle Dynamic Pursuit using Underwater Acoustics.” International Symposium on Robotics Research (ISRR), December 2013.Reed, B., and F. Hover, “Tracking Ocean Fronts with Multiple Vehicles and Mixed Communication Losses,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
Gilbertson, E., Reed, B., Leighton, J., Cheung, M. and F. Hover, “Experiments in Dynamic Control of Autonomous Marine Vehicles Using Acoustic Modems,” IEEE International Conference on Robotics and Automation (ICRA), 2013.
Reed, B., Stojanovic, M., Mitra, U. and F. Hover, “Robust Minimum Energy Wireless Routing for Underwater Acoustic Communication Networks,” IEEE Globecom 2012 Workshop on Wireless Networking and Control for Unmanned Autonomous Vehicles: Architectures, Protocols and Applications (Wi-UAV), 2012.
Reed, B., C. Ambler, J. Guerrero, and F. Hover, “Vertical Glider Robots for Subsea Equipment Delivery,” IEEE International Conference on Robotics and Automation (ICRA), May 2011.
Patents
Guerrero, J, Hover, F., Ambler, C., Reed, B. and R. Hummel, “Vertical Glider Robot,” US Patent US8397657 B2, August, 2010.
Presentations
IEEE Int. Conf. Robotics and Automation, Shanghai, China, May 2011IEEE Globecom, Los Angeles CA, November 2012
USC Communications Sciences Institute Seminar, Los Angeles CA, November 2012
IEEE Int. Conf. Robotics and Automation, Karlsruhe, Germany, May 2013
IEEE Int. Conf. Intelligent Robots and Systems, Tokyo, Japan, November 2013
Int. Symposium on Robotics Research, Singapore, December 2013
MBARI Long Range AUV Group, Moss Landing CA, March 2014
WHOI Applied Ocean Physics and Engineering Seminar, December 2014
MIT Multidisciplinary Simulation, Estimation, and Assimilation Systems Seminar, February 2014
Service
Member of Pi Tau Sigma, ASME, MTS and IEEEReviewer: IEEE International Conference on Robotics and Automation (ICRA), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE Journal of Oceanic Engineering (JOE)
Teaching and Mentoring
Teaching Assistant, Dynamics and Controls (2.004), Spring 2012Co-Teaching Assistant, Quantitative Design of Large-Scale Systems (2.195), Fall 2011
MIT Undergraduate Research Opportunities Program (UROP): Supervisor of 3 students, and co-supervisor of 5 students
Experience
Hover Research Group, MITPhD. Student, Fall 2011 – December 2014
- Created a unified framework for estimation and feedback control with scheduling, delays, and packet loss constraints in multiple communication links, including a novel algorithm for estimation using delayed and lossy control acknowledgment packets.
- Developed a novel integrated framework for networked control of multiple vehicles tracking dynamic ocean processes using ocean model predictions. Implemented and analyzed optimization algorithms for communication-constrained control and estimation. (IEEE Intelligent Robots and Systems Conference, 2013; Methods in Oceanography, submitted).
- Coordinated development of autonomous surface vehicle testbed for experiments in multiple-vehicle control and underwater communications. Primary contributions include concept definition, system-level design, and control architecture.
- Led experimental team effort to study multi-vehicle joint estimation and pursuit using underwater acoustics (International Symposium on Robotics Research, 2013).
Masters student, Fall 2009 – Summer 2011
- Researched multiple-vehicle tracking algorithms based on restless bandit theory for use with constrained sensors such as Ultra Short Baseline Sonar in the deep ocean.
- Implemented sensing, control and autonomy capabilities on novel Vertical Glider autonomous underwater vehicle (AUV), and performed proof-of-concept experiments (IEEE Conference on Robotics and Automation, 2011).
Undergraduate Researcher, 2006-2008
- Designed and built an actuated sonar mount for a ship hull inspection AUV.
- Fabricated and tested components for the Odyssey IV AUV.
Intern, Summer 2007 and Engineering Assistant, Summer 2008
- Produced an exploratory conceptual design package of a microbial water sampler as a nose payload on a new AUV, including CAD models and recommendations for future work.
- Performed a feasibility and performance analysis of variable buoyancy system designs based on mission profiles, performance modeling, and climatology data. Constructed prototype system.
Sailmaker, Summers 2005 and 2006
- Worked on sail construction and repairs.
Instructor, Summer 2004
- Taught sailing to youth, operated and maintained motorboats.
Yacht Design Intern, 2002-2003
- Developed concept and drafted lines for a racing sailboat as part of the International Baccalaureate academic program.
MIT Graduate Coursework
2.032: Dynamics2.140: Analysis and Design of Feedback Control Systems
2.151: Advanced System Dynamics and Control
2.195: Quantitative Design Strategies for Complex Systems
2.20: Marine Hydrodynamics
2.688: Principles of Oceanographic Instrumentation Systems
2.701: Principles of Naval Architecture
6.252: Nonlinear Programming
6.255: Optimization Methods
6.431: Applied Probability
12.808: Introduction to Physical Oceanography
15.083: Integer Programming and Combinatorial Optimization (listener)
15.094: Robust Modeling, Optimization, and Computation (listener)
18.085: Computational Science and Engineering I
18.086: Computational Science and Engineering II
Graduate GPA: 4.8/5.0
Undergraduate GPA: 4.9/5.0
Technical skills
Expertise
- Convex and discrete optimization formulation and analysis, robust optimization
- Control and estimation design and implementation (optimal control, Kalman filtering, model predictive control, communication-constrained control); system identification
- Underwater acoustic communications and networking
- Mechanical design, basic machining, underwater system design
- Hydrodynamics and naval architecture
- Electronics and embedded systems, digital and analog sensor/actuator integration
Software
- Matlab
- Optimization modeling languages and solvers (AMPL/CPLEX, CVX, Gurobi)
- Embedded programming (C, Arduino)
- SolidWorks
- LaTeX, MS Office
- Limited familiarity with Python and C++
Activities
Competitive Sailing, international experience in F18 Catamaran and 29er skiff.Captain, MIT Sailing Team, 2008-2009
Member of MIT Varsity Sailing Team, 2005-2009
All New-England First Team Skipper, 2007-2008, 2008-2009
On-water umpire for Intercollegiate Team Racing, 2009-2014
Captain, MIT Graduate Mechanical Engineering Intramural Ice Hockey, 2011-2014
Skiing, Mountain Biking