Robotics

Trained a PPO control policy in a custom MuJoCo Gymnasium environment and achieved zero-shot transfer onto an ESP32 microcontroller.

Contributed to an oceanographic survey mission deploying a microSAS sonar sensor on an AUV to capture sub-inch resolution acoustic images of the USS Monitor shipwreck.

Built a real-time monocular perception and object tracking pipeline using OpenCV — detects, classifies, and tracks targets across video frames using depth estimation heuristics.

Designed and programmed an autonomous barista robot capable of navigating a café environment, picking up cups, and delivering drinks using ROS 2 and a robotic arm.

Implemented an Extended Kalman Filter (EKF) for state estimation combined with an LQR controller to stabilize an inverted pendulum under sensor noise.

Contributed to an autonomous robot racing platform — developed perception and navigation modules in ROS 2 for competitive autonomous driving challenges.

Implemented the A* search algorithm on a TurtleBot3 for autonomous navigation in a mapped environment, including obstacle avoidance and replanning.