Projects

Fall 2025

Minimum Lap Time Autonomous Racing Stack in AutoDrive Simulator

Developed reactive control and explored LiDAR, IMU, and wheel-encoder state estimation (EKF, SLAM, and an MLP estimator) for an autonomous racing stack in the AutoDRIVE simulator.

Key Result In simulation, the LiDAR-based reactive controller completed 10 consecutive collision-free laps on the Qualification Track; the team qualified in the AutoDRIVE RoboRacer Sim Racing qualification round.

Spring 2025

Multi-Step Deep Koopman for Vehicle Control in Frenet Frame

Embedded a Python deep-Koopman vehicle model in MATLAB/Simulink for trajectory-tracking MPC of a high-fidelity CarSim vehicle.

Implementation Cross-language Python–Simulink MPC integration with the CarSim-modeled vehicle; the work was presented at IROS 2025.

2024

Path-Planning and Collision Avoidance: Neural Network Approach

Studied learning-based path planning by reproducing Neural A* and U-Net–based planners and analyzing encoder–decoder variants.

Benchmark Reproduced key published results and benchmarked the architectures in PyTorch; proposed modifications for dynamic and multi-agent navigation.

Summer 2023 – Summer 2024

Path-Planning and Collision Avoidance of Ground Vehicles

Developed nonlinear and linearized MPC controllers in Julia for constrained vehicle racing and collision avoidance, including a dynamic-bicycle demonstration with six stationary obstacles.

Key Result In a 25 s closed-loop simulation, nonlinear MPC with a six-state dynamic bicycle model completed 2.29 laps past six stationary obstacles, with all 250 MPC updates accepted and no physical contact.

Fall 2025

Optimal Modified Feedback Strategies in LQ Games under Control Imperfections

Analyzed how execution errors in one player's feedback Nash strategy affect the other player's performance, and developed a disturbance-aware compensation law for finite-horizon LQ games.

Key Result In a simulated two-cart system, compensated feedback reduced Player 1's cost by 10.7% and integrated squared error by 41.3% relative to uncompensated feedback under the same actuator lag.

2024

MIMO Optimal Robust Control for Fixed-Wing UAVs

Compared classical and robust control designs for fixed-wing UAV dynamics in MATLAB/Simulink.

Evaluation Designed and compared PID, Youla, and H∞ controllers and analyzed performance and robustness under model uncertainty with frequency-domain tools.

Spring 2023

Position and Orientation Estimation of an RC Car Using Kalman Filtering

Modeled and simulated RC-car dynamics in MATLAB to estimate vehicle position and orientation.

Implementation Designed Kalman and extended Kalman filters for the simulated vehicle, with estimation-error and state-comparison plots.

Feb. 2022 – Sep. 2022

Design and Fabrication of a Soft Magnetic Tactile Sensor

Designed and fabricated a Hall-effect-based soft tactile sensor, from dome deformation analysis and 3D-printed prototyping to Arduino-based data acquisition.

Prototype Fabricated a Hall-effect-based tactile sensor and implemented a multi-layer perceptron that predicts applied force from Hall-effect signals.

Feb. 2022 – Sep. 2022

Test Rig Design for Tactile Sensor

Designed a test bed that applies normal and tangential forces to the tactile sensor using two cylindrical linear voice-coil actuators.

Prototype Built the test bed, with signal-conditioning circuitry designed and simulated in Altium and PID control of both voice coils on an STM32.

June 2020 – January 2021

Hand Stabilizer Gloves for Parkinson Disease

Designed components of a hand-stabilizer glove for Parkinson disease using SOLIDWORKS and design optimization.

Design A passive vibration absorber with a magnetic spring, and a vibrating shaft designed to simulate Parkinson tremors.

Summer 2021

Macro-Atomic Force Microscopy

Internship project on modeling a macro-scale atomic force microscopy (macro-AFM) probe.

Analysis Modeled and analyzed the probe (mechanical + magnetic) in ANSYS and studied its frequency response and feedback.