Projects
Here is a collection of some of the cool projects I've worked on over the last few years
L1-MPC
Visiting Researcher
Developed nonlinear adaptive control and model predictive control algorithms at the Robotics and Perception Group to autonomously fly drones at over 20 m/s through various trajectories and race tracks.
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The controller was able to handle huge model uncertainties such as slung payloads and aerodynamic disturbances.
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The method was eventually published in the Robotics and Automation Letters (RAL) and the International Conference on Robotics and Automation (ICRA) in 2022.
AutoRally
Controls Engineer/Researcher
Conducted a meta-analysis of state of the art Model Predictive Control algorithms for controlling a racing vehicle at the limit of handling. Implemented various forms of MPC including deterministic and stochastic variations. Deployed software within the ROS ecosystem. Developed simulation models in Gazebo. Validated software and vehicle performance on the AutoRally 1/5th scale RC car. You can find the code for this project HERE
Optimal Control Driver Model
Lead Software Engineer
Developed optimal control and vehicle dynamics models in C++ to demonstrate limit handling capabilities for racing vehicles. All algorithms run in real time and perform within reach of professional human racing drivers. Carsim is used for the simulation environment
GPS Waypoint Planner
Lead Software Engineer
Developed an interactive Qt-based GUI for engineers and technicians to plan and execute paths for a Department of Defense robotic platform. The GUI allows the user to place destinations on a tile-based map server, generate paths, set speed targets, and orientation. RVIZ is used to serve the map tile and see the robot's position in a 2D refererence frame