Projects

Autonomous visual search algorithm on the Boston Dynamics Spot robot, utilizing a Pan-Tilt-Zoom (PTZ) camera for active environment exploration
Software: ROS 2, C++, Python, Docker, Gazebo, Nav2, YOLO, GTSAM / iSAM2, OctoMap
Hardware: Boston Dynamics Spot, Cam+ IR inspection PTZ camera, NVIDIA Jetson Nano

Full stack ROS parking surveillance system deployed on an AgileX Scout 2.0 rover
Software: ROS, C++, Python, Extended Kalman Filter, KISS-ICP, YOLO, OCR, OctoMap
Hardware: AgileX Scout 2.0, NVIDIA Jetson Xavier, Velodyne LiDAR, Intel RealSense RGB-D camera, Xsens IMU and GNSS

Lightweight C++/OpenCV lane detection pipeline for driving videos, with temporal smoothing, confidence metrics, and real-time overlays

A video series of Q-Learning tutorials as well as an implementation applied to the Cart Pole Balancing Problem and the Open Race Car Simulator (TORCS)

Two Minecraft datapacks that enhance the game without the need for mods. One implements chess in Minecraft, the other educational pathfinding algorithms.