{ ++project_repository; }

Designed and implemented a complete navigation pipeline from scratch, featuring real-time SLAM, particle filter localization, and autonomous frontier exploration. Github

Developed an end-to-end sorting system using Inverse Kinematics (IK) and Computer Vision to autonomously identify, locate, and relocate objects. Github

Developed a Kalman Filter to estimate robot trajectories by fusing control inputs and noisy measurements. Github

Evaluated A* search performance for the PR2 base robot. Conducted a comparative study of 4-connected vs. 8-connected grid expansions regarding path optimality and search space complexity. Github

A comparative performance analysis of planar fitting techniques. Evaluated RANSAC’s outlier robustness against PCA’s computational efficiency in noisy 3D point cloud environments. Github

Iterative Closest Point algorithm for 3D alignment: Features a deep-dive analysis on handling geometric ambiguity (cylindrical symmetry) and overcoming local minima through stochastic initialization. Github

Developed an RRT-Connect (Rapidly-exploring Random Tree) planner for the PR2 robot in PyBullet. Successfully navigated high-dimensional configuration spaces to achieve collision-free manipulation. Github

Developed a Kalman Filter to estimate robot trajectories by fusing control inputs and noisy measurements. Github

Benchmarked A* against Anytime Nonparametric A* (ANA*) for the PR2 robot. Achieved a 14x reduction in latency using a custom translation-prioritized heuristic in constrained environments. Github

This is just the surface. From autonomous navigation to custom hardware interfaces, I build robust systems that solve real-world challenges. Have a project in mind? Let’s build the solution together. Github