Robotics

Implemented various search based approaches for planning problem with non-holonomic constraints (RRT, A*, R*)

Implemented (C++) dynamic label classifier for SLAM pipeline with custom written optimizer on UGV robot

Capstone project for Masters at CMU. Fully autonomous UAV (Unmanned Aerial Vehicle) and an AGV (Automated Ground Vehicle) system to detect, report, and extinguish fire

Modeled picking and placing trash bin skill using manipulator arm of Locobot robotic platform as Gaussian Process (GP) to enable imitation based skill learning from single demonstration

Incorporated Dynamic Movement Primitives (DMP) approach to model stereo typical motion in data efficient manner and used that model to predict trajectory and goal location from a partially observed trajectory

Monocular Object-oriented Simultaneous Localization and Mapping (SLAM) using deep Convolutional Neural Network (CNN) and factor graph optimization