HobbySingh/IEEE-RAS-SIGHT-Humanitarian-Robotics-Automation-Technology-Challenge

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Created almost 7 years ago
Updated almost 7 years ago

HobbySingh/IEEE-RAS-SIGHT-Humanitarian-Robotics-Automation-Technology-Challenge

HobbySingh

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ROS Nodes for Locomotion, Obstacle Avoidance and Mine Detection

Path-Planning-Algorithms

Many path planning algorithms implemented as a part of Robotics Course for eg. A*, D*, RRT, RRT*

Path-Following-Algorithms

Carrot Chase, Linear Quadratic Regualtor Control (LQR), PID Control

Graph-SLAM

Graph SLAM (16833 SLAM Project at CMU)

LQR-Guidance-Law

This research contains formulation and implementation of LQR (Linear Quadratic Regulator) Guidance for ship based net recovery of fixed wing UAVs

Vision-Based-Fixed-Wing-Landing

This research uses computer vision and machine learning for implementing a fixed-wing-uav detection technique for vision based net landing on moving ships. A rudimentary technique using SIFT descriptors, Bag-of-words and SVM classification was developed during the study.

Tight_Multi_Robot_Coordination

Tight multi robot coordination for a multi agent system where the communication range is constrained and the agents need to coordinate and reach there goal destination without violating the range barrier in an obstacle environment.

Robotic-Arm

This project contains my contribution towards developing a 3 DOF cooking robotic arm in hardware and simulating using ROS, Rviz, OMPL, and MoveIt API. Controllers were written for efficient trajectory planning and cooking delicious food. The work was done during my internship at Nymble Labs. The codebase is incomplete and will not run.

SDRE-Path-Following

SDRE-based-path-following

D-Star

Obstacle-Avoidance-Hector-Quadrotor

RRT_Discrete

RRT_Continuous