Refer Resume for Research projects description

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Developed a particle filter based SLAM and motion planning to map and navigate through an obstacle course and retrieve targets. Used the LCM protocol and a C++ codebase to synchronise LIDAR and Telemetry data on a Raspberry Pi and BeagleBone Green. (Code) (Full Report)

Stabilised an inverted pendulum robot using PID Control. Performed telemetry calibration with UMBark. Implemented Joystick based control for navigation. (Full report)

Calibrated Microsoft kinect based perception system with AprilTags, and implemented cubic spline interpolation for trajectory planning. Implemented closed-form Inverse Kinematics to pick and place coloured blocks. Designed 1 DoF gripper in SolidWorks (Code) (Full Report)