Projects
PX4 ROS2 CBF Safety Filter
Constraint-enforcing safety filter for PX4-controlled drone via control barrier functions.
GEM e2 LiDAR Positioning
LiDAR-based box detection with grid density clustering, geometric waypoint planning, and pure pursuit GPS tracking on a Polaris GEM vehicle.
GEM e2 Pedestrian Distance Control
PID-based pedestrian follower using bounding box height as a distance proxy.
GEM e2 Voronoi Navigation
LiDAR-based obstacle mapping with Voronoi diagram path planning and GPS-guided pure pursuit control for autonomous summoning.
Tethered UAV Nonlinear Backstepping Control
Nonlinear cascade controller for a tethered UAV with catenary tether and ground winch — centimeter-scale hover accuracy with robust disturbance rejection under stochastic wind.
Husky Depth-Camera CBF Safety
Perception-to-safety pipeline using depth sensing and barrier-style constraints on a Clearpath Husky robot.
VR Teleoperation for UR3
VR interface for UR3 end-effector control with a ROS bridge.
Multi-Agent Infrastructure Inspection
Coordinated planning and task allocation for scalable infrastructure monitoring in simulation (Proprietary).
Tethered UAV CBF-QP Safety Filter
Control barrier function quadratic programming framework for safe operation of tethered UAVs under tether length constraints.
Safety System for UR3
Vision-based safety system for a UR3 robotic arm using HSV color blob detection to identify human presence and automatically halt motion.