My Projects

Control of Quadrupedal Robots on Soft Terrains

Control of Quadrupedal Robots on Soft Terrains Control of Quadrupedal Robots on Soft Terrains

Model-based control for quadrupedal robots moving on compliant terrains.

Hierarchical Constraint-Based Control of Multi-Robot Systems

Hierarchical Constraint-Based Control of Multi-Robot Systems Hierarchical Constraint-Based Control of Multi-Robot Systems

Control of heterogeneous multi-robot fleet using hierarchical optimization and quadratic programming.

Multi-Robot Systems Reinforcement Learning

Multi-Robot Systems Reinforcement Learning Multi-Robot Systems Reinforcement Learning
JAX

Control of multi-robot systems using reinforcement learning and JAX.

Docker Container for ROS (1 and 2), GUIs, and NVIDIA GPUs

Docker Container for ROS (1 and 2), GUIs, and NVIDIA GPUs Docker Container for ROS (1 and 2), GUIs, and NVIDIA GPUs
Docker

Docker container to be used with ROS 1 or ROS 2. Supports the usage of GUIs and NVIDIA GPUs.

UAV Sensor Fusion

UAV Sensor Fusion UAV Sensor Fusion

Indirect Extended Sequential Kalman Filter for multi sensor fusion on UAVs.