Ethan Chandler is a PhD student in the Robotics Engineering department, supervised by Prof. Guanrui Li. He earned both his BS and MS degrees in Robotics Engineering at WPI. His research focuses on developing novel methods to solve optimal control problems for underactuated systems, including quadrotors and legged robots. His work has led to the discovery of a new algebraic Riccati equation for spectrally-discretized optimal control problems, yielding a reduction from cubic to linear solve-time complexity. The research enables highly accurate agile motion on complex dynamics systems, with current results demonstrating sub-centimeter accuracy for quadrotors flying at more than 10 m/s.