Featured Projects
Innovative solutions in robotics, AI, and IoT
Drone Control Methods
Crazyflie 2.0 flight controller implementing PD and LQR control algorithms with polynomial trajectory generation and hardware validation for precise autonomous flight.
Franka ROS2 Grasping
Complete control and grasping system for the Franka Emika Panda robot using ROS 2 Humble and MoveIt2, with simulation capabilities, motion planning, hardware control, object detection, and an integrated grasping pipeline with perception, planning, and execution modules.
OpenManipulatorX Kinematics
Developed a full kinematics stack from scratch for RBE500: Foundations of Robotics, implementing analytical Forward and Inverse Kinematics solvers to enable precise end-effector positioning in Cartesian space. Designed a differential kinematics controller using Jacobian matrices and a closed-loop PD control law, effectively minimizing joint velocity errors to achieve smooth trajectory tracking.
REAAS: ROS Enhanced Advanced Assistive System
Enhanced ROS enabled mobile robots to optimize store operations by automating real-time support for both customers and staff, resulting in improved task efficiency, faster response times and improved customer satisfaction and staff productivity.
Path Seeker
Designed a versatile robot using Autodesk Fusion 360, showcasing skills in 3D modeling and mechanical design, while integrating a Hokuyo Laser Scan sensor to enhance perception and implement intelligent obstacle avoidance through the AMCL algorithm.
Desk Buddy: Enhancing Work and Study Environments
Spearheaded the development and implementation of Desk Buddy, a smart companion utilizing ESP32 and various sensors to enhance productivity and well-being in work and study environments, resulting in improved work efficiency by 15%.
Optimization Algorithms Implementation
Implemented advanced optimization techniques such as Genetic Algorithm, Cultural Algorithm, Particle Swarm Optimization, and Ant Colony Optimization to address various optimization problems including TSP, Sine Wave Approximation, and Shortest Path in a Graph.