Experience
Developing a prototype of an Autonomus Mobile Robot (AMR).
- ROS2, Navigation2, ROS2-Control
- Integration of Micro-ROS with ESP32
- Simulation and testing in Gazebo
Projects
A mobile robot that can navigate in a dynamic environment.
- ROS2, Micro-ROS, Gazebo
- ESP32
- Nav2, ROS2-Control, Custom Hardaware Interface
- C++, Python
Mobile Manipulator robot made with URDF, can be loaded into Gazebo to perform testing of different kinds.
- ROS2, URDF, Gazebo
- ROS2-Control, Custom Hardware Interface
- C++, Python
A simulation robot made with URDF, that can be loaded into Gazebo for different testing purposes.
- ROS2, URDF, Gazebo
- C++, Python
This project visualizes and somewhat analyzes the performance of different pathfinding algorithms. It can currently solve SAPF and MAPF problems and show the results.
- Path Finding, SAPF, MAPF, Optimal Solution
- C++, OOP, SFML
- CMake, Doxygen
MO-CBS is the state-of-the-art algorithm for solving multi-objective pathfinding problems. It has two levels: higher and lower level search. Here I've tried to optimize the algorithm on both higher and lower levels.
- Multi-Objective Multi-Agent Path Finding
- Finding Pareto-optimal Front and an Optimal Solution
Applying the Discrete Fourier Transform (DFT) to a signal breaks it into its fundamental frequency components and their respective amplitudes. This program performs both decomposition and reconstruction.
- Signal Processing
- DFT, FFT, Complex Fourier Series
This project was part of the micro-controller course in the third year of university. ATMega32 was used as the microcontroller.
- ATMega328p, AVR-C, Micro-Controller Architecture
- Sensor Integration, GPIO, Interrupts, ADC
- Timer, Counter, PWM Generation
- SPI, I2C, USART
This project was part of the micro-controller course in the third year of university.
- Arduino, Sensor Integration
- Self-Balancing with Reaction Wheel, Lagrangian Mechanics
- LQR Controller, Matlab