Archive

An index of robotics research, engineering prototypes, and design systems developed over the years.

Completed Projects

Finished works and shipped deliverables

Manipulation Controls Xacro ROS2 C++ Python

A three-package ROS 2 control framework for real-time end-effector positioning. SVD-based damped pseudo-inverse Jacob...

October 2025

UAV ROS2 Autonomy MAVROS Computer Vision ArduPilot

Led a team of five to build a complete ROS 2 control system for the Aurelia X4 heavy-lift quadcopter. Full sim-to-rea...

May 2025

Motion Planning C++ ROS2 MoveIt Manipulation

Custom Bidirectional Expansive Space Tree (BiEST) motion planner integrated with MoveIt 2 for collision-free trajecto...

December 2024

Controls Flight MATLAB State-Estimation

Complete fixed-wing UAV autopilot built from first principles. Successive loop closure PID architecture, dual EKFs fo...

3 3

November 2024

Machine Learning Deep Learning Python

A from-scratch implementation of automatic differentiation and backpropagation, the core engine behind modern deep le...

2 1

October 2024

Manipulation Controls Kinematics MATLAB ROS

Team project comparing inverse kinematics, resolved-rate differential kinematics, and Jacobian transpose control for ...

April 2024

Autonomy Embedded Navigation C++ Arduino

Multi-sensor autonomous mobile robot with finite state machine architecture. Fuses Pixy2 vision, IR proximity, ultras...

June 2023

Mobile Robotics Manipulation Motion Planning ROS2 C++ Python

Building a full-stack ROS 2 mobile manipulation system from scratch. Clearpath Husky A200 base, Universal Robots UR5e...

February 2025