Projects

Contributed in the development of rovers using PX4 and ROS2 ecosystem that used a RealSense camera to implement ESDF generation using NVBlox on IsaacRos and could implement the visibility RRT* algorithm.
Github

Implemented safe control on a dynamic unicycle robot with class-K function and weights being tunable according to obstacle distance. Extending the work to include dynamic obstacles using a Maximum Entropy Inverse Reinforcement Learning Model.
Github

Implemented the paper in PyBullet Environment-GraspSplats that uses feature embedded Gaussian Splats with MobileSAMv2 and MaskCLIP to generate grasp poses with sampling based Grasp Pose Detection.
Report

Implemented PointNet for point cloud classification and segmentation, and also recreated similar results using Monocon architecture on a custom RGB image dataset.
Code

Used CVXPY and CasADi to implement LQR-QP based ACC and Trajectory Tracking systems on point mass and bicycle models of a car.

Developed an autonomous mobile robot that maps the environment using Breshenham's Algorithm and performd SLAM. Used A* and frontier exploration to navigate and perform pick and place tasks in a grid.
Report

Developed autonomy for a 5-DOF robotic arm by implementing computer vision techniques, kinematics, and path planning, enabling object manipulation.
Report

A full stack architecture was developed for logistics robots including autonomous navigation and mapping using YDLidar. Computer vision on a Kinect sensor and embedded subsystems design was done on ROS, with necessary instrumentation and actuators.