My ultimate goal is to have self-sufficient autonomous mobile robots working in human environments, performing tasks accurately and robustly. In support of this goal, I am interested in research in perception, planning, and control applied to autonomous mobile robots. My research in perception involves developing models and representations for a dynamic world, and algorithms to build and perform inference based on such models. My interests in planning include motion planning, multi-robot coordination, and task-based planning in domains including service mobile robots, and robot soccer.