projects
Selected work across planning, simulation, and deployed robotics.
Research → simulation → deployment
Building autonomy.
From reasoning to real-world action.
I develop planning algorithms and the systems that bring them to life: prediction-aware maneuvers, on-vehicle decision-making, and ground and aerial robotics.
01 / Featured research
Flagship research
FFStreams / FFStreams++
From FFStreams task-and-motion planning to FFStreams++ prediction-aware maneuver planning, developed during my Ph.D.
Evaluated on CommonRoad driving scenarios
View project : FFStreams / FFStreams++02 / Engineering in practice
On-vehicle deployment
Autonomous Vehicle Deployment
Behavior planning and trajectory generation deployed on a Kia Soul autonomous vehicle.
Validated across 50+ driving scenarios
View project : Autonomous Vehicle Deployment
Open-source infrastructure
CARLA–Apollo Bridge
A bidirectional interface connecting simulated sensors and vehicle control to the Apollo stack.
Closed-loop simulation and validation
View project : CARLA–Apollo Bridge
Field robotics
Autonomous Outdoor Cleaning Robot
Adaptive scheduling and motion planning for cleaning in unstructured outdoor environments.
Developed the Trash Hunter planning feature
View project : Autonomous Outdoor Cleaning Robot
Manipulation robotics
CNN Grasp Detection
Learning grasp position, angle, and width from depth images for an ABB YuMi manipulator.
Perception-to-action pipeline on ABB YuMi
View project : CNN Grasp Detection
Aerial robotics
Autonomous Quadcopter
An aerial robotics project spanning airframe, electronics, control, and indoor localization.
Achieved stable tethered flight
View project : Autonomous Quadcopter