Mixed-Reality Testbed for Autonomous Driving

Mixed-Reality Testbed for Autonomous Driving image

Developed a mixed-reality testbed combining virtual and physical Quanser QCars; studied effects of time delays, vehicle dynamics, and communication policies on String Stability.

Tech: Mixed Reality, Autonomous Driving, String Stability

Multi-Agent Intersection Management

Implemented a DDPG-based multi-agent intersection management algorithm using sequential optimization; developed centralized control and communication pipelines for mobile robots.

Tech: Reinforcement Learning, Multi-Agent Systems, Robotics

Multi-Objective Control

Implemented multi-objective reinforcement learning algorithms and an HJ Reachability-based method for Pareto Front recovery for nonlinear systems.

Tech: Reinforcement Learning, Control Theory, HJ Reachability

Lane Change for Vehicular Platoons

Developed a CACC-based longitudinal controller and safe decision-making planner for autonomous vehicle platoons; tested in CARLA.

Tech: Simulink, CARLA, CACC, Path Planning

Event-Triggered Control using Reinforcement Learning

Developed a DDPG-based event-triggered controller for LTI systems with stability guarantees; implemented classical event-triggering methods.

Tech: Reinforcement Learning, Event-Triggered Control, Control Systems

UAV-assisted UGV Navigation

Designed mapping and navigation algorithms for UAVs in mountainous environments and developed UGV controllers using ROS and OpenCV.

Tech: ROS, UAVs, UGVs, Computer Vision

Control and Navigation of Mars Rover

Developed vision-based autonomous navigation for a Mars rover and a mobile-follower robot; indoor mapping with RTAB-map.

Tech: Computer Vision, Robotics, RTAB-map, OpenCV

Control and Navigation of a Self-Balancing Bike

Modeled and controlled a self-balancing flywheel-based bike; developed GPS and LiDAR-based navigation algorithms.

Tech: Control Theory, PID, Robotics, ROS, Gazebo