Featured Projects

Python
ROS2
MoveIt2
OpenCV
Franka Plays Whack a Mole
ROS2 Package to make the 7-DOF Franka Robot play Whack-a-Mole using MoveIt2 and OpenCV.

Python
Kinematics
CoppeliaSim
Trajectory Generation
Motion Planning
Feedback Control of Omnidirectional Mobile Manipulator
Controlling a KUKA YouBot to pick and place a cube in CoppeliaSim

C++
ROS2
Mapping
Localization
Collaborative Mapping using a Quadrotor and Quadruped
Building Occupancy Grids using RGBD odometry and 3D point clouds in a Multi-Robot setup
Other Projects

MATLAB
Trajectory Generation
Control
Quadrotor Control and Trajectory Generation
Generating a minimum snap trajectory and implementing PD control on a quadrotor

Python
Dynamics
Lagrangian Mechanics
Multibody Dynamics Simulation
Simulating the physics of a jack bouncing around in a box

Python
Deep Learning
MNIST
Image Denoising using CNN
Implementation of an image-denoising autoencoder model on the MNIST dataset

Python
Path Planning
RRT
Rapidly Exploring Random Trees
Implementation of the RRT Path Finding Algorithm

Python
Path Planning
BFS
Maze Solving using Wavefront Algorithm
Implementation of the Wavefront Path Finding Algorithm

C++
ESP32
Microcontrollers
ESP32 Navigation Device
ESP32 based Visual Navigation device using Bluetooth Communication and Frequency Detection