Dual Control and Estimation for Batteries
Simultaneous improvement in estimation and control.
Welcome! I am Marfred Barrera, a PhD student at UC Berkeley studying under Negar Mehr and the ICON lab.
Before this, I completed my undergraduate studies at UC San Diego,
obtaining a B.S. in Mechanical Engineering with a specialization in robotics and control.
My first research experience was as an intern as part of the Marine Physical Laboratory at the
Scripps Institution of Oceanography. There, I worked with Drew Lucas to develop a new
generation of self-sufficient autonomous oceanographic instrument platforms.
Later, I joined the Safe Autonomous Systems Laboratory
where I worked with Sylvia Herbert on safety in the face of uncertainty in state estimation.
I also worked on a joint project with Argonne National Laboratory regarding dual control and estimation for battery systems.
Education
PhD, Mechanical Engineering
University of California, Berkeley, 2025–Present
Advisor: Negar Mehr
B.S., Mechanical Engineering
University of California, San Diego, 2021–2025
Advisors: Sylvia Herbert, Drew Lucas
Research Experience
Graduate Researcher
ICON Laboratory, UC Berkeley, 2025–Present
Multi-agent autonomous systems and safety.
Undergraduate Researcher
Safe Autonomous Systems Laboratory, 2024–2025
Safety, Optimal Control, Estimation.
Marine Physical Laboratory Intern
Scripps Institution of Oceanography, 2023–2025
Marine robotics and sensor development.
Awards and Honors
NSF Graduate Research Fellowship, 2025
RSS Pathways Fellowship, 2025
Posts
Sampling-Based Robust State Estimation for Deterministic Safety Controllers
Nominal QP-CBF in a stochastic setting.
Scripps Institution of Oceanography
From 2023-2025, I worked for Drew Lucas at the Scripps Institution of Oceanography with his lab, Multiscale Ocean Dynamics (MOD), who specializes in making c...
UCSD Mars Rover Team
Rover in 5 DOF arm configuration. From 2021-2025, I was involved in an undergraduate engineering organiziation comprised of 30-50 engineering student...
