Samuel Folorunsho
Robotics & Autonomy
Hello and welcome. I'm Samuel Folorunsho, a graduate student at the University of Illinois Urbana-Champaign (UIUC). My work focuses on perception-driven autonomy, motion planning, safe control, and optimal trajectory generation for multi-agent robotic systems. I design and implement end-to-end autonomy stacks using ROS2 and C++/Python, and evaluate them across both physical robotic platforms and modern simulation environments. Please see this page for more info about me.
Featured Projects
Multi-Agent Infrastructure Inspection
Coordinated planning + task allocation for scalable infrastructure monitoring in simulation (Proprietary).
GEM e2 Pedestrian Distance Control
PID-based pedestrian follower using bounding box height as a distance proxy.
Control Barrier Function (CBF) Safety Filter for UAV Obstacle Avoidance
Constraint-enforcing safety filter for PX4-controlled drone via control barrier functions.
AR-Based, Gesture Guided Human Robot Interaction
VR interface for UR3 end-effector control with a ROS bridge.
Depth-Aware CBF Safety on a Clearpath Husky
Perception-to-safety pipeline using depth sensing and barrier-style constraints.
GEM e2 LiDAR Positioning
LiDAR-based box detection with grid density clustering, geometric waypoint planning through the gap, and pure pursuit GPS tracking on a GEM autonomous vehicle.
Tethered UAV Nonlinear Backstepping Control
Nonlinear cascade controller for a tethered UAV connected to a ground winch via a flexible catenary tether — achieving centimeter-scale hover accuracy and robust disturbance rejection under stochastic wind.
GEM e2 Voronoi Navigation
LiDAR-based obstacle mapping with Voronoi diagram path planning and GPS-guided pure pursuit control for autonomous summoning on a Polaris GEM vehicle.
