A complete Guidance, Navigation, and Control (GNC) framework for WAM-V Autonomous Surface Vessels using MATLAB/Simulink, ROS 2, and Gazebo (VRX) for adaptive path tracking and autonomous docking.
An Autonomous Mobile Robot (AMR) simulation stack for ROS 2 Jazzy and Gazebo, featuring a full Nav2 integration, MPPI control, and a custom state-machine for battery-aware autonomous docking.
[IEEE AeroConf '25] ORBEX-A: Orbital Rendezvous and Capture Experiment with Adaptive Tube MPC
Dual-UAV docking research centered on UWB, AprilTag vision, PX4/MAVLink, and mother-frame relative localization.
Open-source simulation and control stack for autonomous sailboat docking control systems.
N.O.V.A. (Navigational Optical Verification & Authentication) — An ESP32-based research prototype implementing Visible Light Communication (VLC), NFC, Goertzel DSP, and TinyML for dual-factor physical access control, alongside an autonomous optical docking subsystem.
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