Featured Projects
C++
ROS2
Mapping
Localization
Docker
Collaborative Mapping using a Quadrotor and Quadruped
Building Occupancy Grids using RGBD odometry and 3D point clouds in a Multi-Robot setup
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
Other Projects
C++
Particle Swarm Optimization
Trajectory Generation
Trajectory Generation using Particle Swarm Optimization (PSO)
Solving the Traveling Salesman Problem (TSP) using PSO to generate quadrotor trajectories
Python
Dynamics
Lagrangian Mechanics
Multibody Dynamics Simulation
Simulating the physics of a jack bouncing around in a box
MATLAB
Trajectory Generation
Control
Quadrotor Control and Trajectory Generation
Generating a minimum snap trajectory and implementing PD control on a quadrotor
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