Systems & Software Catalog
Functional engineering projects ranging from hardware interfaces, RTOS bridges, to edge computer vision models.
Autonomous SLAM Navigation Rover
Designed and simulated a custom differential-drive mobile robot using ROS2 Humble, Gazebo, and the Nav2 navigation stack. Implemented LiDAR-based mapping with Cartographer and sensor fusion using robot_localization with EKF filters to achieve robust autonomous navigation in dynamic environments.
CUDA-Accelerated Obstacle Detection System
Developed a real-time computer vision pipeline utilizing OpenCV CUDA and YOLOv8 for edge deployment. Designed deep learning inference layers running on NVIDIA Jetson modules to identify obstacles and calculate distance estimates using depth-map calculations for stereo cameras.
Decentralized Swarm Robotics Simulator
Built a lightweight swarm robotics simulator to evaluate pathfinding in consensus-driven multi-agent networks. Implemented collision-avoidance models based on Reciprocal Velocity Obstacles (RVO) and simulated distributed mapping topologies.
Micro-ROS STM32 Controller Interface
Engineered an embedded control board system using STM32 microcontrollers. Wrote custom firmware using Micro-ROS to publish encoder ticks and subscribe to velocity commands directly over serial interface, achieving direct integration with high-level ROS2 packages.
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