Portfolio Website
The site you're looking at. A data-driven architecture where each project is a TypeScript file, making it easy to add new content without touching layout code.
Autonomous Garden Maintenance Robot
A robot that navigates a garden autonomously, monitors plant health through sensors and imaging, and delivers water and nutrients where needed.
Distributed Quadrotors Transporting a Load
Multiple drones working together to carry a heavy load suspended by cables. The system handles cable slack and formation changes to keep the payload stable.
Trajectory Generation with Iterative Learning and Hybrid Control
A car learns to perform emergency lane changes through repeated practice, plus a walking robot that switches between different leg phases.
Trajectory Optimization with DIRCOL, iLQR, and TVLQR
Finding optimal paths for dynamic systems like swinging up a cart-pole or flipping a quadrotor, then tracking those trajectories with feedback control.
Optimal Control of Linear Systems: LQR, TVLQR, and MPC
Classic control techniques applied to spacecraft docking, cart-pole balancing, and other linear systems. Compares LQR and Model Predictive Control approaches.
Multi-Robot Frontier Exploration
Multiple robots coordinate to explore unknown environments efficiently. Each robot claims frontier regions and avoids duplicating work with teammates.
Symbolic Planner
An AI planner that figures out action sequences to achieve goals. Given a start state, goal, and available actions, it finds a plan using A-Star search.
Sampling-Based Motion Planners
Comparing different approaches to robot path planning: PRM builds a roadmap, RRT grows a tree, and RRT* optimizes for shorter paths.
Real-Time Target Interception with Multi-Goal A*
Catching moving targets in real-time. The planner considers multiple possible interception points and picks the best one as the target moves.
Jenga Building Robotic Arm
A robotic arm that detects Jenga blocks, plans collision-free paths, and stacks them into a tower autonomously.
Safeguard Against Pests (SAP)
An autonomous robot that detects lanternflies using computer vision and sprays them with targeted pesticide, reducing chemical use compared to broad spraying.
Grip Assistive Glove
A motorized glove that helps people with limited hand strength grip objects. Designed for conditions like Cerebral Palsy and Tendonitis.
Habitat Airlock Linkage System
A mechanical linkage that presses a button at a precise time using only gravity and carefully designed geometry. No motors or electronics.
The Ultimate Quiz
A trivia game about historical rulers that generates questions by scraping Wikipedia. Tracks your progress and revisits questions you miss more often.