Summer 2026 | ROS 2 Jazzy, C++, Nav2, Raspberry Pi 5
3D-printed 4WD robot with lidar SLAM (slam_toolbox), wheel/IMU EKF fusion, Nav2 navigation, and a ros2_control serial interface to Arduino motor firmware, patrolling a waypoint loop unattended for 20 minutes on a single Raspberry Pi 5.
Spring 2026 | Python, OpenCV
Compared pairwise essential-matrix visual odometry against local-map SLAM (PnP-RANSAC on a 3D landmark cloud) on robot video; tuning keyframe selection and preprocessing cut closed-loop drift 4.8x, to 2.7%.
Spring 2026 | Python, OpenCV, Raspberry Pi 4B
Graduate Grand Challenge robot that finds colored blocks in a 7x7 ft arena and delivers them to a collection zone using a state machine, grid search, and encoder/IMU odometry with ultrasonic wall corrections.
2024 - 2025 | Raspberry Pi, Python, SQLite
Air quality monitoring system on a Raspberry Pi 4B that logs particulate matter (PM1, PM2.5, PM10) readings from an Adafruit PMSA003I sensor to a SQLite database.
Fall 2024 | ROS 2, Python, Gazebo, Docker
Graduate coursework project developing a ROS 2-based robotic arm simulation with forward/inverse kinematics and motion planning in Gazebo.
August 2022 - December 2022 | Embedded Systems, Control Systems
Electric Ducted Fan (EDF) powered hopper with custom flight computer PCBs achieving altitude and attitude control through thrust vector control.
August 2021 - December 2021 | IoT, LoRa, Embedded Systems
Distributed sensor network for forest fire detection and ecosystem monitoring. Sensor nodes relay data to a central hub over LoRa, with cloud connectivity.
August 2018 - December 2018 | ArduPilot, PID Control, Team Leadership
Led four-person team developing autonomous navigation with obstacle avoidance using ArduPilot and PID control algorithms.