During my internship at Aethon Robotics, I got the opportunity to work on developing a controller for a tractor-trailer robot. I found the problem to be fascinating and decided to…
Description of a project completed as part of the Modern Robotics capstone course on Coursera. The project involves development of a PI and feed-forward based controller for the Kuka YouBot simulated in V-Rep/CoppeliaSim.
Description of the Bob the Farmer project. The project aims to develop a vertical tomato pollination and harvesting robot as part of the project course in the MRSD program at CMU (16-681 and 16-682).
Descriptions of select projects completed as part of the Robot Autonomy (16-662) course at CMU. Projects include PRM and RRT based motion planning, reinforcement learning for block throwing and a shelf stocking robot.
Descriptions of select projects completed as part of the Robot Localization and Mapping (16-833) course at CMU. Projects include particle filter-based localization, custom linear system solver implementations and a dense SLAM system.
Descriptions of select projects completed as part of the Robot Mobility (16-665) course at CMU. Projects include implementation of a controller using the dynamic bicycle model and quad-copter control using a cascaded controller approach.
Descriptions of select projects completed as part of the Manipulation, Estimation and Controls (16-642) course at CMU. Projects include Kalman filter and particle filter-based pose estimation for a mobile 2D robot.
Descriptions of select projects completed as part of the Computer Vision (16-720) course at CMU. Projects include scene classification, augmented reality, object tracking, character recognition among other topics.