Projects

Human Following Robot

Integrating YOLO and SLAM with a Clearpath Robotics Jackal to locate and track a specific person while listening to gesture-based commands.

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Robot Domino Artist

Developed a Python ROS 2 package for a Franka Emika Robot arm to find and manipulate dominoes. Utilized OpenCV to detect the dominoes and implemented force control for precise placement.

EKF SLAM from Scratch

Built an EKF SLAM system in C++ and ROS 2 from scratch, including a custom 2D rigid-body geometry library, a physics-based simulator with Gaussian noise, wheel slip, and collision detection, and a LiDAR landmark detection pipeline using unsupervised clustering and circle regression. Implemented the full Extended Kalman Filter SLAM loop with both known and unknown data association.