Research

Inertial Estimation

Integrated an inertial parameter estimation package into a lab-wide UAV flight stack. Worked on improving the speed of estimation convergence.

Tags: Control Systems, Robotics, Multirotors, State Estimation, Kalman Filtering

Skills: C++, ROS, Git

 

Collision Avoidance

Developed a ROS wrapper for a collision avoidance codebase to simulate robotic motion in Unity in real time.

Tags: Simulation, Robotics, Reinforcement Learning, Collision Avoidance, Robot Operating System (ROS)

Skills: Python, ROS, Docker, Git, CLI, Unity

 

MOSAIC

System modeling, analysis, and software development for a prototype liquid-lens based laser telecommunication system. Developed under the NASA Early Stage Innovations Grant.

Tags: Laser Telecommunications, Optics, Communication Systems, Beam Steering, Liquid Lenses, System Modeling, Automatic Data Collection, Data Visualization

Skills: Zemax OpticStudio, MATLAB, C++, Technical Writing