Exploration, SLAM, Control, Manipulation, and Motion Planning.
Trajectory Optimization, Information Theory, Collision Avoidance
Develop a robot agnostic information theoretic exploration strategy for known and unknown environments. This includes my implementation of an ergodic controller, dynamic window approach, and a collision detector.
MoveIt!, ROS Navigation, Grasping, Motion Planning
Retrieve an object and return it to a specified location. To accomplish this goal, I created a custom pick and place pipeline.
Scan Matching, Occupancy Grid Mapping, State Estimation, Data Association, Sensor and Motion Models
My implementation of Rao-Blackwellized Particle Filter SLAM from scratch.
State Estimation, Data Association, Sensor and Motion Models
My implementation of EKF SLAM from scratch with known and unknown data association.
C++, ROS, Motion Planning
Co-developed a motion planning course that featured Probabilistic Road Maps, Theta*, D* Lite, Potential fields, Dynamic Window Approach, and Model Predictive Control.
Optimal Control, Information Theory, Probability
MPPI is a stochastic optimal control strategy capable of handling nonlinear system dynamics.
Path Planning, Control, Kinematics
My implementation of path planning online and offline for a differential drive robot.
MoveIt!, ROS, OpenCV
Programmed Baxter to aim and shoot at targets. Baxter uses one arm to aim the nerf gun and the other to pull the trigger.
Planning, Control, Perception
Autonomous navigation and exploration of underground environments.