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Planning and decision-making methods under uncertainty
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Aiming to integrate these methods across the robotics pipeline - from perception, SLAM and state estimation to learning-based components and control
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Seeking to bridge theoretical foundations and algorithmic frameworks with safety-aware and reliable behavior in real-world robotic systems/autonomous navigation
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Weapon Zeroing System (Private Repository) - Real-time laser aim calibration on Raspberry Pi. Python, OpenCV, NumPy, gpiozero | [Capstone Project - Grade 96]
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Escape Project - Image processing & route planning in C
C (pointers/structs), BMP I/O, DFS/BFS -
STM32 Autonomous Line Follower - PID control, obstacle detection & autonomous parking.
STM32F103, Embedded C, HAL timers/interrupts -
STM32 Propeller Swing Control (LQR) - Model-matching + LQR reference model.
Embedded C, STM32 HAL, MATLAB/Simulink -
Optimal Missile Guidance Using LQG Control - Stochastic guidance: Riccati-based feedback, Kalman filtering, Monte Carlo analysis, and animated results.
Python, NumPy, Matplotlib, Optimal Control -
Control Systems - SRV02 Rotflex - Position & flexible joint control (PID, LQR, Observer, Z-N).
MATLAB/Simulink -
Robotics Control & Planning (4-DOF Arm) - MATLAB dynamics + Python MPC with learning-based planning.
MATLAB, Python, PyTorch (CVAE), NumPy -
SCARA 6-DOF Robotic Arm - FK/IK, Jacobian, workspace & ROS2 simulation (URDF, RViz, Gazebo).
Python, ROS2, Gazebo, RViz -
4-DOF Robotic Arm - Arduino Project - Servo-based robotic arm with joystick control.
Arduino (C++), Servo.h, DC motor driver, joysticks
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