He directs the Real-Time and Embedded Systems Lab and xLAB: Experience Design and Technology Lab at Penn. His interests are in scheduling, controls and formal methods for Cyber-Physical Systems in implantable medical devices, energy-efficient buildings and automotive systems. His research in Autonomous System Plan Verification and Execution (APEX) will help integrate and interface the control-theoretic algorithms with real distributed systems across applications for TerraSwarms. Also, his work on Co-design of Anytime Algorithms and Robust Control will allow for overloaded real-time computation to be executed on embedded platforms.