Projects

Implemented different strategies for high speed autonomous racing using the F1TENTH platform and tested it in simulation and physical hardware

a model predictive trajectory generator that produces a trajectory to control a car-trailer system to make the trailer track specified points while the car avoids other specified points

Development and implementation of a flight controller and a minimum snap trajectory generation algorithm that could fly a drone through a static obstacle filled environment

Created a tech-art installation showcased at Philadelphia’s Fillmore auditorium for a performance. The project relied on computer vision to do human pose estimation and map visual movement into visual interactive art for a live audience. As this was a live piece, witnessed and participated in by over 700 people, the piece needed to be robust, quick, and seamless, making it a great yet challenging learning experience

Developed a functional prototype for an autonomous outdoor cleaning robot as part of an entrepreneurial pitch and was awarded first place - winning a cash reward and a sponsored visit to Germany

Planning and control of a 7 DOF robotic arm to pick and stack moving objects while avoiding fixed obstacles in the task space

Indoor outdoor localization using factor graphs for fusing GPS and Lidar information. 3D Lidar localization and loss of accuracy in outdoor settinngs verified by hardware testing