Trajectory Tracking via MPC with Softening Constraints
Differential Drive, MPC, Feedforward Control
Portfolio
iLQR: Swing-Up of Double Inverted Pendulum
LQR, Pendulum, Dynamics
Model Predictive Control for Drone
Explore my work in Model Predictive Control, guiding drone with mpc based trajectory planning and obstacle avoidance
Dynamic Path Planning with A* Algorithm
A*, Dynamic Obstacle Avoidance
The Debugger: RAG Based Agentic Systems Debugger
RAG, LLM, Vector Database, Agent, Tool Use, Systems Connection
Experimenting to understand Hamilton Jacobi Reachibility (IN PROGRESS)
HJR, Path Planning
Loop Closure Detection using CLIP (Contrastive Language-Image Pre-training)
Using Language based model for loop closure detection
Meta Learning Model: Model that learns about Models
Pytorch, MNIST, CNN
MBot - Autonomous Mobile Robot
SLAM, Sensor Fusion, Particle Filter, PID
Robotic Arm
Forward and Inverse Kinematics, Path Planning, Computer Vision, Object Detection
Demonstration of Drone Survey and Rescue Operation using ROS
ROS, Computer Vision, PID, Tag Detection
Monocular Depth Estimation for autonomous navigation
Raspberry-pi camera, supervised learning, Depth
Built 3D Printer from Scratch
Design, Hardware Interfacing, G-code Generation, Marlin Firmware, Slicing
Autonomous Robot Version 1
Arduino Mega, GPS Sensor, IMU, Ultrasonic Sensor, Motor Driver