QRAC Toolbox and Research
Under development. Python package containing lightweight simulator tools and implementations for quadrotor robust adaptive control.
All Projects
Real-time NMPC
A real-time implementation of nonlinear model predictive control for quadcopter trajectory tracking.
Online Multirotor Planning Framework
Online planner for ArduCopter and PX4 using MAVROS. Designed for the AUVSI SUAS competition.
Motion Planning Testbed
Software system combining ROS, OptiTrack, and discrete LQR to implement motion planning algorithms in real life. Still in the works.
LQR for differential steering
Discrete-time LQR for optimal differential drive trajectory tracking.
LQR steering and PID speed control
Discrete-time LQR combined with a PID for optimal mecanum drive trajectory tracking.
OptiTrack localization interface
A ROS and Matplotlib interface for real-time, distributed localization.
A* path planning—UAV Forge
Implementation of A* for offline path planning in the AUVSI SUAS competition.
Suspension Design (FSAE Electric)
Compilation of design choices made to improve upon previous suspension systems.
Chassis Design and Fabrication—Chem-E-Car
Display of chassis and design choices made to provide a reliable vehicle and platform for chemical reactions.