Resilient Market-Based Multi-Robot Exploration under Byzantine Threats
Independent Study, PennConducted interdisciplinary research bridging distributed systems and robotics to enhance security in multi-robot systems.
Projects
A list of my course, capstone, and research projects.
Research Projects
Bimodal Quadruped Robot
Senior Capstone, WPIDesigned and built a 3-DOF robotic arm with a 2-DOF gripper for the Unitree Go1, integrating custom PID motor control and ROS for agile loco-manipulation.
Robotic Bird Deterrent
Independent Study, WPIDesigned and built a small proof-of-concept robot to patrol a power transmission line and discourage birds from congregating on the wire.
Course Projects
Learning Lyapunov-Stable and Obstacle-Aware Polynomial DS
MEAM 6230, PennDeveloped a one-step framework for learning Lyapunov-stable, obstacle-aware polynomial dynamical systems from demonstrations for safe robot motion generation.
Safe Game-Theoretic Multi-Robot Task Allocation
CIS 6200, PennProposed an online trust learning algorithm to identify malicious agents for cooperative, game-theoretic task allocation in drone swarms.
Flocking Control for Dynamic Object Tracking
MEAM 6240, PennDeveloped a flocking-based robot system that tracks a moving target, maintains formation, and avoids obstacles collaboratively.
Quadrotor Planning and Control
MEAM 6200, PennTested and validated control and navigation algorithms on the Crazyflie 2.0, enabling precise, agile flight through maps and mazes using A*, trajectory optimization, and state estimation.
Humanoid Gymnastics
MEAM 5170, PennDesigned and implemented an operational space controller in simulation for a planar humanoid robot to achieve stable walking and jumping.
Unknown Maze SLAM and Navigation
RBE 3002, WPIProgrammed a Turtlebot 3 robot to navigate through an unknown maze using A* frontier exploration and generate a map for the maze using laser-based SLAM.
Vision-Based Robotic Pick and Place
RBE 3001, WPIDeveloped an autonomous vision-based robotic pick and place system to sort balls of different colors using a 3 DoF spherical robot manipular.
Robot Escape Room
RBE 2002, WPICustomized and programmed a set of robots to communicate with each other to escape from a maze that uses a variety of beacons and tags to lead the robot to find the escape door.
Robotic Replacement of Solar Collector Panels
RBE 2001, WPIBuilt and programmed a set of mobile robots to work together to pick up solar panels and place them onto roofs of different angles on a competition field.