Projects

Autonomous Quadrotor Navigation

Real-time trajectory planning algorithm in ROS2 C++ for quadrotors to fly though obstacle-dense GPS-denied indoor environments. Won $55k at 2023 NIST 3D Mapping Challenge.

Quadrotor Acrobatics with a Cable Suspended Payload

Nonlinear model-predictive control (MPC) for quadrotors to do flips and barrel rolls with a cable-suspended payload with safety constraints. Written in Python using acados.

Aircraft Autoland

Cascaded PID controller for aircraft to follow localizer, glideslope, and flare path guidance law. I learned how to use the Python control systems package for frequency-domain analysis and X-Plane 11 for simulation.