Autonomous indoor cleaning robot with ROS/Webots/RViz stack.
- SLAM: Builds a detailed map using Lidar and odometry for obstacle-aware navigation.
- Planning Trajectories: NavfnROS + TrajectoryPlannerROS for optimal global/local paths with static and dynamic obstacles.
- Dynamic Obstacle Avoidance: Sensors and planners cooperate to steer around obstacles smoothly.
Robotics Navigation Autonomous Systems
Adaptive Vision Transformer with dynamic token sparsification and halting for efficient image classification.
Vision Transformers Adaptive Tokens Computer Vision Deep Learning
Physics-Informed Neural Networks for real-time temperature estimation via the Pennes Bio-Heat Equation, supporting hyperthermia therapy control.
Physics-Informed Neural Networks Bio-Heat Equation Hyperthermia Therapy Docker
An autonomous navigation and object-interaction stack for a lunar rover prototype.
- Planner: Dijkstra-based waypoint navigation with dynamic obstacle handling.
- Perception: Visual object detection and tracking to trigger tasks and avoid hazards.
- Hardware: Custom gripper actuation and onboard execution for reliable field operation.
Navigation & Perception Onboard Planning Robotics Hardware
MATLAB library for robotics simulations, kinematics, dynamics, control, and path planning.
MATLAB Robotics Kinematics Dynamics Control Path Planning
Model-level explanations for GNNs via reinforcement-learned graph generation on MUTAG.
Graph Neural Networks Explainability Reinforcement Learning Graph Generation
