Some of my favourite robotics projects - a representation of the kind of projects I would like to work on and write about on this blog. I have also worked on other projects, but they are not very relevant to this website. You can have a look at these experiences on my LinkedIn (link at the bottom of the page).

AKROS - Autonomous Holonomic Robot Platform

2021 |

As the lockdown(s) extended into 2021, I decided to build an autonomous mecanum-wheel based ROS robot. I used a 2D LiDAR scanner, a tracking/odometry sensor (Intel T265 camera) and a depth camera (OAK-D) to build a robot that can autonomously map and navigate in my studio apartment. I also implemented additional features such as closed loop (holonomic) motion control, life-long SLAM and behavior trees. The entire system was developed using the ROS1 navigation stack on a Raspberry Pi 4.

Jetson Robot Platforms - JetRacer, JetBot

2020 |

During the Covid-19 lockdown, I decided to upgrade my Donkey Car into an NVidia JetRacer (based on the NVidia Jetson Nano), with custom add-ons like an IMU. Due to the lack of driving space, I moved everything to a JetBot platform (differential drive). To demonstrate the Jetson Nano’s AI capabilities, I trained an edge detection model to drive the robot on a desk without falling off.

Remote Computing for Soccer Robots using 5G mm-Waves

2018/2019 | BlueSPACE, Tech United, TU Eindhoven

For my PDEng Thesis, I designed and built a functional prototype for 5G-Robotics demonstrations. This experimental setup was built using Tech United’s TURTLE platform and BlueSPACE’s mm-Wave setup, in order to validate that a distributed robotic/motion control system (operating at 1 kHz) can still maintain its real-time properties over a 5G network.

Multi-Drone Positioning and Formation Flying

2018 | European Space Agency (ESTEC), TU Eindhoven

Our team of 12 designed a multi-quadrotor demonstrator to simulate a multi-satellite space mission by ESA for the ESA ESTEC Open Day 2018. As Software Architect and Designer, I implemented the multi-camera positioning system to localize the drones in 6dof for accurate trajectory following and control.

Autonomous Drone Referee

2018 | Tech United, Eindhoven University of Technology

In a team of 7, we designed and implemented an autonomous drone concept to referee Robot Football matches. The drone was programmed to track a calculated “bubble of active play” and provide recommendations based on the status of the tracked ball (goal, throw in) and the tracked players (collisions, fouls). This was demonstrated on Tech United’s RoboCup field.

AGV Localization in Changing Indoor Environments

2016/2017 | Prodrive Technologies, TU Eindhoven

For my Master Thesis, I worked with Prodrive Technologies to study and improve their current AGV localization strategy for their next generation of autonomous 2D LiDAR based robots. Two strategies were proposed, implemented, and validated in a simulated environment using ROS and Gazebo. This project is not open-access.

Maze Solving Robot

2016 | TU Eindhoven

As a part of a master’s course, our team of 3 programmed a ROS-based holonomic robot platform to complete a maze using only 2D LiDAR data. We implemented the pledge algorithm to solve simulated and physical mazes with 90 degree turns, interactive doorwars, and open spaces. We participated in two challenges during the course, and ranked second, thus winning a crate of (well-deserved) beer!

Autonomous Navigation of a Lunar Robot

2013/2014 | MIT Manipal

For my Bachelor End Project, I designed and simulated an autonomy strategy for the lunar excavator robot built by our student team RoboManipal in 2012-2013. This involved the study and implementation of robot perception, trajectory planning and finally motion control to complete the NASA Lunabotics Mining Challenge 2013 problem statement autonomously.

NASA Lunabotics Mining Competition 2013

2012/2013 | RoboManipal, MIT Manipal

Our 12-member team participated in the 4th NASA Lunabotics Mining Competition at Kennedy Space Center in Florida, USA in 2013. I was the Student Team Lead and Systems Engineer (Electronics/Software). As system engineer, I designed the electronics, communications and control software for our lunar excavator robot which teleoperated over a high-latency wireless network. The team ranked 19th from 50 teams.

ABU Robocon 2012

2011/2012 | RoboManipal, MIT Manipal

Our student team built one autonomous robot and one manually operated robot for the ABU Robocon 2012 national-level competition. I was involved in the design of the electronics (IR sensor arrays, relay boards, Arduino shields) and development of the autonomous functionalities based on grid-based positioning algorithms. The autonomous robot was programmed to navigate on a flat surface with a grid, grab an object and place it autonomously at a pre-defined location.