Projects
A three-tier architecture for warehouse sorting: a ROS2 Fleet layer handling navigation, path planning, and task management across multiple robots; a Rust-based Communication Hub using gRPC/Modbus for status and messaging; and a Python Delivery Hub simulating a PLC with GUI-driven bin management. Uses A* path planning on a predefined map and a state machine task manager (with Behaviour Tree support for scaling).
Search any location on Earth, draw a rectangular region of interest on an interactive map, place a spawn marker, and hit generate — the tool fetches real elevation (Mapbox DEM) and satellite imagery to produce a fully complete Gazebo SDF world. Configurable tile resolution and output paths via env vars. Featured on the official Gazebo website.
Custom PCB (designed in KiCAD 6.0) combining the L298N dual full-bridge driver with a Wemos D1 Mini for built-in WiFi. Runs in AP mode — connect to its SSID and open wirelessmd.local to control motors wirelessly through a browser UI. 6–12V supply, 1.2A per channel, 500mA fuse protection. Can also be used as a conventional motor driver.
Open-source affordable robot for sterilizing hospital wards and ICUs with UV light, built during COVID-19. Uses ESP32's dual cores — one dedicated to the web UI, the other to navigation and obstacle avoidance. Simulated in CoppeliaSim (V-REP) before hardware deployment. Autonomous waypoint navigation with wireless control via a browser interface hosted on the ESP32.
Drones dynamically form shapes extracted from any input image using image processing techniques. PX4 handles flight control, RVO (Reciprocal Velocity Obstacles) provides decentralized collision avoidance so drones never cross paths during formation transitions, and a Qt UI lets you feed images and monitor the show in real time.
A comprehensive Udemy course covering ESP32 from scratch — GPIO manipulation, wireless (WiFi/BLE) and wired (I2C/SPI/UART) communication, and the basics of Real-Time Operating Systems (RTOS). Designed to get beginners building real IoT projects with no prior experience.
PID-based control algorithm for goal tracking using WhyCon beacons for localization. Features a color-based priority system for intelligent goal point selection, simulated and tested in Gazebo.
IoT-based remote patient monitoring system designed to minimize staff requirements and reduce exposure risks in hospitals. Built a custom wearable vest with integrated ECG, temperature, pulse oximeter, and GPS — all transmitting data wirelessly to a server in real time.
Simulated RHex-inspired legged robot in Gazebo with a velocity-constrained local planner and PID-based actuator control for stable locomotion and navigation.