Projects
USPAV: Planning and Control of a Suspended Payload on an Unmanned Aerial Vehicle
USPAV explores control and motion planning for UAVs carrying suspended payloads, focusing on swing dynamics, trajectory optimization, and safe maneuvering.
Rotary Inverted Pendulum: A Control Systems Experiment Platform
The Rotary Inverted Pendulum is an educational platform for advanced control theory, designed for hands-on experiments in system modeling, LQR, and nonlinear dynamics.
PolySwarm: Multi-UAV Trajectory Generation and Control Framework
PolySwarm is a C++ and ROS 2-based control and trajectory generation framework for multi-drone systems, supporting dynamic disturbance modeling, detailed quadrotor physics, and layered control architecture.
MAVES: A MATLAB-Based 2D VTOL Simulator for STEM Education
2D DroneSim is a ROS-based educational simulation environment designed to teach and test UAV control algorithms in a simplified 2D setting.
EduRover: A Mecanum Wheel Autonomous Ground Vehicle
EduRover is an educational platfrom designed to be 3D printed with easily accessible components.
CRANE-X: Trajectory Planning for Gantry Crane Systems via RRT
CRANE-X is a motion planning system for gantry cranes, integrating sampling-based trajectory generation and underactuated control in ROS 2.