Through my courses I have experience working on projects that cover a wide range of algorithms including:

• Hand-Eye Calibrations
• Pivot Calibrations
• Iterative Closest Point Algorithm
• Distortion correction using Bernstein Polynomials
• Point-Cloud to Point-Cloud Transformations
• Kalman Filter
• Resolve Rate Control & PID Control
• Bayesian Particle Filter
• Joint Space Planning Algorithms (EST, RRT, etc)
• Convolution Neural Network for Computer Vision
• Machine Learning Non-Linear Classifiers
• Finite State Machines

The following sections contain some samples of my work.

UR5 Robot Motion Planning

For the course Robot Dynamics, Kinematics, Devices, and Control, I implemented a pick-and-place procedure using resolve-rate control and inverse kinematics control.

Bayesian Particle Filter on Husky Robot

For the course Algorithms for Sensor-Based Robotics, I implemented a probabilistic particle filter on a virtual robot with a lidar sensor. The video demonstrates the particles converging on the true position of the robot as the it moves around the environment.

Expansive-Space Tree Planning Algorithm

I implemented an EST used to plan a collision-free path to a goal position given to the robot arm.