Education: -Ph.D. in Mathematics, Texas Tech University, August 2006 -M.S.

in Mathematics, Texas Tech University, May 2003 -B.S. in Mathematics (Minor in Physics), Eastern New Mexico University, December 1999 Employment: Research Mathematician * Air Force Research Lab - Control Science Center of Exce llence Wright-Patterson AFB, OH * September 2006 - Present -I perform basic research in optimization and control theory with emphasis on co operative control of teams of unmanned aerial vehicles (UAVs). Recent research e fforts consist of the following: --Development of an outer-loop controller using stochastic dynamic programming for decision making with uncertainty in a UAV sequential inspection scenario, --Development of an outer-loop controller for reducing human operator false ala rms in a base-defense perimeter patrol problem with pop-up alarms, --Optimal UAV autopilot waypoint placement for UAVs performing IED defeat missi ons, --Development of algorithms for networks of UAVs to perform distributed search and distributed task assignment missions. -I managed a $1.0M research program conducted by General Dynamics AIS and the Un iversity of Nevada, Las Vegas from October 2006 through October 2009. This effor t focused on multiple areas of UAV research: propulsion, aerodynamics, control a nd electrical systems optimization. -I regularly review SBIR/STTR/MURI research proposals submitted to the Departmen t of Defense for research on various topics in control theory. Most topics have been related to the control of networks of semi-autonomous UAVs: bio-inspired co ntrol, obstacle avoidance, mixed-initiative control, robust decision making and novel platform designs. I also participate in the annual reviews for numerous re search efforts conducted throughout AFRL. -I coordinate the summer faculty/student research program for our Center of Exce llence. I have led the research efforts of four graduate students leading to M.S . degrees for two of them. I have guided and/or collaborated with approximately 15-20 other students and faculty visitors. Graduate Part-Time Instructor * Texas Tech University Lubbock, TX * May 2001 - August 2006 -My duties included preparing and delivering lectures; grading homework, quizzes and exams; holding office hours; and determining student grades. -I spent three semesters as a research assistant researching the following topic s: (1) novel methods for solving two-point boundary value problems, (2) computin g optimal (variable) step-sizes for solving stiff differential equations, (3) vi sion-based ego-motion computation for UAVs, (4) filtering noisy linear/angular v elocity computations for a UAV using a non-linear observer, and (5) Lyapunov bas ed obstacle avoidance algorithms for UAVs. Visiting Researcher * Air Force Research Laboratory - Control Science Center of Excellence Wright-Patterson AFB, OH * May - August 2002 & 2004 -In 2002 I worked with a group researching control of hypersonic space access ve hicles. My research focused on designing a new, fast method for solving two-poin t boundary value problems and investigating techniques for optimizing step-size selections when solving systems of stiff differential equations. -In 2004 I worked with a group researching cooperative control of UAVs. I invest igated the use of optical flow in the field of robot vision and how to replace t he computation of optical flow with a different (vision-based) method that compu tes the ego-motion of a UAV. Fuels Specialist * United States Air Force - (Active Duty)

Cannon AFB, NM * July 1996 - December 2000 Courses Taught at Texas Tech University (2001 - 2006): -Essential Mathematics (Non-Credit Developmental Mathematics) -Intermediate Algebra (Non-Credit Developmental Mathematics) -Contemporary Mathematics (Logic, Quantitative Literacy, Problem Solving) -Intermediate Mathematical Analysis II (Business Calculus) -Analytical Geometry -Calculus I -Calculus II Scholarly Activities: Invited Talks -Massachusetts Institute of Technology Lincoln Laboratory, "Outer-Loop Control o f Unmanned Aerial Vehicles," Lexington, MA, September 2010. -Texas Tech University Department of Mathematics and Statistics, "Topics on Oute r-Loop Control of Unmanned Aerial Vehicles," Lubbock, TX, March 2010. -AIAA Guidance, Navigation and Control Conference Invited Session, "Optimal Wayp oint Placement for Road Surveillance using Unmanned Aerial Vehicles," Chicago, I L, August 2009. -Aptima, "Autonomous and Cooperative Control of Air Vehicles," Woburn, MA, March 2009. -AIAA Guidance, Navigation and Control Conference Invited Session, "Autonomous D ecision Making with Uncertainty for an Urban Intelligence, Surveillance and Reco nnaissance (ISR) Scenario," Honolulu, HI, August 2008. -Air Force Institute of Technology Department of Mathematics and Statistics, "Co mputational Issues in Autonomous Control of Unmanned Air Vehicles," Wright-Patte rson AFB, OH, December 2006. Peer Reviewer for the following Journals & Conference Proceedings -International Journal of Robust and Nonlinear Control -Journal of Guidance, Control and Dynamics -Proceedings of the AIAA Guidance, Navigation and Control Conference -Proceedings of the American Control Conference Journal Editor -Guest Editor for a special issue of the International Journal of Robust and Non linear Control, "Cooperative Control of Autonomous Systems," will appear in earl y 2011. Professional Membership -American Mathematical Society Publications: Book Chapters -R. Holsapple, J. Baker and A. Matlock, The Control Handbook, "Stochastic Decisi on Making and Aerial Surveillance Control Strategies for Teams of Unmanned Aeria l Vehicles," CRC Press, Boca Raton, FL, 2010. -J. Baker, R. Holsapple, A. Girard, P. Chandler and M. Pachter, Optimization and Cooperative Control Strategies: Proceedings of the 8th International Conference on Cooperative Control and Optimization, "Operator Aided Decision Processes for UAVs in a Stochastic Environment," Springer, Berlin, Germany, 2009. Journal Articles -D. Casbeer and R. Holsapple, "A Column Generation Approach to the Vehicle Routi ng Problem," International Journal of Robust and Nonlinear Control, 2011. -R. Iyer, M. Toda and R. Holsapple, "On an Optical Inertial Navigation System Part II," IEEE Transactions on Automatic Control, Vol. 53, No. 8, September 2008 . -R. Holsapple, R. Iyer and D. Doman, "Variable Step-Size Selection Methods for I

mplicit Integration Schemes for ODEs," International Journal of Numerical Analys is and Modeling, Vol. 4, No. 2, 2007. -R. Iyer, R. Holsapple and D. Doman, "Optimal Control Problems on Parallelizable Riemannian Manifolds: Theory and Applications," ESAIM: Control, Optimisation an d Calculus of Variations, Vol. 12, No. 1, January 2006. -R. Holsapple, R. Venkataraman and D. Doman, "New, Fast Numerical Method for Sol ving Two-Point Boundary-Value Problems," Journal of Guidance, Control and Dynami cs, Vol. 27, No. 2, March 2004. Conference Proceedings -A. Kwok and R. Holsapple, "Approximate Decentralized Sensor Fusion for Bayesian Search of a Moving Target," Proceedings of the AIAA Infotech@Aerospace Conferen ce, St. Louis, MO, March 2011. -D. Casbeer and R. Holsapple, "A Column Generation Approach to the Vehicle Routi ng Problem," Proceedings of the AIAA Infotech@Aerospace Conference, Atlanta, GA, April 2010. -P. Chandler, J. Hansen, R. Holsapple, S. Darbha and M. Pachter, "Optimal Perime ter Patrol Alert Servicing with Poisson Arrival Rate," Proceedings of the AIAA G uidance, Navigation and Control Conference and Exhibit, Chicago, IL, August 2009 . -S. McDonald, R. Holsapple and D. Kingston, "Optimal Waypoint Placement for Road Surveillance using Unmanned Aerial Vehicles," Proceedings of the AIAA Guidance, Navigation and Control Conference and Exhibit, Chicago, IL, August 2009. -Matlock, R. Holsapple, C. Schumacher, J. Hansen and A. Girard, "Cooperative Def ensive Surveillance using Unmanned Aerial Vehicles," Proceedings of the American Control Conference, St. Louis, MO, June 2009. -R. Holsapple, J. Baker, P. Chandler, A. Girard and M. Pachter, "Autonomous Deci sion Making with Uncertainty for an Urban Intelligence, Surveillance and Reconna issance (ISR) Scenario," Proceedings of the AIAA Guidance, Navigation and Contro l Conference and Exhibit, Honolulu, HI, August 2008. -R. Holsapple, R. Iyer and D. Doman, "A Variable Step-Size Selection Method for Implicit Integration Schemes," Proceedings of the American Control Conference, M inneapolis, MN, June 2006. -R. Iyer, R. Holsapple and P. Chandler, "A New Method for the Computation of Mot ion from Image Sequences," Proceedings of the American Control Conference, Portl and, OR, June 2005. -R. Holsapple, R. Venkataraman and D. Doman, "A Modified Simple Shooting Method for solving Two-Point Boundary-Value Problems," Proceedings of the IEEE Aerospac e Conference, Big Sky, MT, March 2003. Ph.D. Dissertation & Master's Thesis -R. Holsapple, "Computational Issues in Autonomous Control of Unmanned Air Vehic les," Texas Tech University, August 2006. -R. Holsapple, "A Modified Simple Shooting Method for Solving Two-Point Boundary Value Problems," Texas Tech University, May 2003. Professional Awards & Recognitions: -2007, 2008, 2009 and 2010 - Special Act/Service Award for exceptional service t o the government -2008 - Air Force Award for Civilian Achievement -2008 - Arthur S. Flemming Award nominee from AFRL's Air Vehicles Directorate -2008 - Air Force Scientist Team Award -2008 - Science, Engineering and Technical Management Award in the Air Force Mat eriel Command -2007 - Director's Award in AFRL's Air Vehicles Directorate -2000 - Achievement Medal for outstanding military service from 1996 through 200 0 -2000 - Expeditionary Forces Medal for service in Operation Southern Watch in Sa udi Arabia

Miscellaneous Information: -I hold a secret security clearance in the United States through March 2017. -I have a 5-point veteran's employment preference for my military service. -I earned a 4.0 GPA at ENMU, graduating Summa Cum Laude. (3.92 GPA including tra nsfer credit) -I finished my Master's and Ph.D. with a 3.966 GPA. References: -Dr. Deborah Grismer - Aerospace Engineer - Supervisor, Sep 2006 through May 201 0 Core Process 2 & Tech Transition Lead - Air Force Research Laboratory (Former - Chief, Control Design & Analysis Branch - Air Force Research Laborator y) deborah.grismer@wpafb.af.mil - 937.656.9845 -Dr. Siva Banda - Aerospace Engineer - Directs my research and technical activit ies Director, Control Science Center of Excellence - Air Force Research Laboratory siva.banda@wpafb.af.mil - 937.255.8677 -Dr. Ram Venkataraman Iyer - Associate Professor of Mathematics - Graduate Advis or Department of Mathematics and Statistics - Texas Tech University ram.iyer@ttu.edu - 806.742.2580 x229 -Dr. Kent Pearce - Professor of Mathematics Chair, Department of Mathematics and Statistics - Texas Tech University kent.pearce@ttu.edu - 806.742.2566 -Dr. Jeffrey Tromp - Aerospace Engineer - Supervisor, May 2010 through Present Chief, Control Design & Analysis Branch - Air Force Research Laboratory jeffrey.tromp@wpafb.af.mil - 937.255.2582