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Trajectory Optimization via Successive Convexification
Applying successive convexification to quadrotor trajectory optimization in Julia — virtual control, trust regions, and ECOS vs SCS solver benchmarking
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Kinodynamic Planning of a Quadrotor in SE(3) using SST*
Implementing SST* on OMPL's SST solver for SE(3) quadrotor planning — static obstacles, dynamic windowed replanning, and Rotors+Octomap integration
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Multithreaded Point Cloud Pipeline for RealSense + SLAM
Replacing ROS IPC between a RealSense D455 and a SLAM backend using a C++ producer-consumer pipeline to reduce network-level overhead
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Formation Control via Visual Feedback and Hybrid Switching Controllers
Designing a switching hybrid controller for multi-agent source seeking using a CNN-based localizer
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Multi-Agent Search and Rescue using Unmanned Surface Vehicles
Controller design for multi-agent Victor Sierra search using USV16s — consensus formation, leader-follower tracking, and PD trajectory control in Gazebo VRX