My Projects

Applied Robotics

7-DOF Arm

7-DOF Arm Pick and Place Challenge

MEAM 5200, Intro to Robotics

Programmed a fast-IK solver with null-space task for 7-DOF arm block stacking.
Mechatronics

Semi-autonomous Mobile Robot

MEAM 5100, Design of Mechatronic Systems

Developed a mobile robot capable of autonomous localization and path finding.
Autonomous VTOL

Unmanned VTOL: Autonomous Software Stack

Penn AiR, SAE Aero Design Advanced Class

Led development of autonomy stack for VTOL aircraft: sensor fusion, controls, and hardware integration/triage for payload delivery/retrieval.

Research

Tractor Trailer MPC

Tractor Trailer MPC

MEAM 5170, Controls and Optimization in Robotics

Formulated and extended Model Predictive Control (MPC) formulations for autonomous tractor-trailer reverse parking.
SIGMA-MQL Multi-Agent Path Finding

SIGMA-MQL: RL for Multi-Agent Path Finding

ESE 5460, Principles of Deep Learning

Cross-task generalization in grid-based MAPF with decentralized deep Q-learning: sheaf-regularized DQN (SIGMA) plus Meta-Q Learning.
Homotopic Path Identification

Homotopic Path Identification

MARMoT Lab, Dr. Guillaume Sartoretti

Developed a homotopy path-identification algorithm to model congestion as a reinforcement learning feature.
Swarming Oscillators

Network Coupled Swarming Oscillators

MIT, Dr. Steven Ceron

Investigated emergent behaviors in swarm robotics using MATLAB simulations.

Mechanical Engineering

Stirling Engine

Stirling Engine Design and Manufacturing

MEAM 2010

Fabricated a high-speed heat engine with custom components and precision machining.

Miscellaneous

Tetris Game

Tetris

CIS 1200 Final Project

Developed a fully functional Tetris game using Java Swing.