Andrew Kimmel

Profile

I am a PhD candidate working with Dr. Kostas Bekris at Rutgers University. My primary research topics are: manipulation and motion planning, planning under uncertainty, and multi-agent systems. In one of my most recent works, we developed a method demonstrating the first instance of robotic handwriting using inhand manipulation on an underactuated hand. I have also recently developed methods for computing feasible motions for robotic manipulators in the context of significant clutter. I have been a core member of the Rutgers team in several robotics competitions, including most recently the Amazon Picking Challenge (2015,2016).

Some of my past research has been on solving multi-agent path planning problems in crowded scenes using only minimal information (i.e. no communication, no centralization). A potential solution to this specific problem is a method which incorporates notions of game theory (minmax regret analysis to be exact) into a decentralized obstacle avoidance and replanning framework, with the objective of more efficiently guiding agents to their goals. You can find out more about this topic at this page here.

I have been funded from past projects involving UGVs for TARDEC with an Army subcontractor, Intelligent Automation Incorporated, where we worked on monocular SLAM problems.

I am also one of the primary developers for the PRACSYS software, our common platform for doing physically-based simulations of autonomous agents, especially for multiple robots.


Background

I am from Reno, Nevada, where I graduated from the University of Nevada, Reno (UNR) in Spring 2012 with a Master of Science in Computer Science. During my master's, I worked at UNR's robotic laboratory, and investigated methods for coordinating teams of agents in a decentralized fashion. You can find more information about this topic on the page that deals with Decentralized Motion Coordination and Team Coherence. I also received my Bachelor of Science in Computer Science from UNR, with minors in Physics and Mathematics.


Publications


    Undergraduate
    • WiELD-CAVE: Wireless ergonomic lightweight device for use in the CAVE. Joshua Hegie, Andrew Kimmel, Kelvin Parian, and Sergiu M. Dascalu, Frederick C. Harris, Jr.Journal of Computational Methods in Science and Engineering, 2010, 177-186.
    • Transient Characteristics of Two-Phase LNG Expanders;
      Finley, C.D., Kimmel A. et al.; AIChE Spring National Meeting 2007
    • Effect of Quadratic Fluid Damping in Two-Phase Liquefied Natural Gas; Kimmel, A.; AIChE Spring National Meeting 2007
    • Pressure Induced Non-Linear Oscillations in Two-Phase LNG Pipe Flow; Kimmel, A.; AIChE Spring National Meeting 2006



Teaching Experience


    Mentoring

    • Robert Gross, 2014-2016, Sophomore to Senior (continued graduate school)
    • Joseph Jaeger, Summer 2013, Senior (continued graduate school)
    • Poorva Sampat, Summer 2014, Freshman
    • Meera Murti, Summer 2014, Freshman
    • Billy Grant, Summer 2014, Freshman


    Teaching Assistant

    • Rutgers: CS 112 - Data Structures (two semesters)
    • UNR: CS 365 - Math of Computer Science
    • UNR: CS 282 - Simulation Physics
    • UNR: CS 105 - Intro to Computing
    • UNR :CS 135 - Computer Science I


Distinctions

  • Rizvi Graduate Fellowship (2018)
  • College of Science Dean's List (x2)
  • College of Engineering Dean's List (x3)
  • Millennium Scholarship 2004- 2009
  • Silver State Scholarship from 2004-2007
  • Member of Tau Beta Pi the Engineering Honors Society
  • NSF Scholarship to attend AAMAS (2012), CASE (2017), ISER (2018)
  • Conference Travel Awards from Rutgers University to attend DARS (2014), ICAPS (2016)
  • Workshop Organizer at CASE (2016)


Contact Info

Department of Computer Science
Rutgers, The State University of New Jersey
110 Frelinghuysen Road
Piscataway, NJ 08854-8019, USA

email : akimmel42@gmail.com
Office: CBIM A