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1. LQR_iLQR_DDP_Feedback-Linearization LQR_iLQR_DDP_Feedback-Linearization Public

   Designed LQR and iLQR controllers for multiple non-linear systems describing scenarios such as cart-pole balancing, helicopter hovering, hopper stabilization, and trajectory following for helicopte…

   Jupyter Notebook

2. VisualOdom VisualOdom Public

   Forked from Achuthankrishna/VisualOdom

   Estimated the motion of a robot using classical computer vision techniques such as the point-n-perspective, local outlier factor, LMeds, and stereo vision with the KITTI dataset.

   Jupyter Notebook

3. Apprenticeship-Learning-via-IRL-F1TENTH-GYM Apprenticeship-Learning-via-IRL-F1TENTH-GYM Public

   Implmented Apprenticeship learning via IRL for the f1tenth gym that uses ROS2 Foxy.

   Python 1

4. EKF_sensor_fusion EKF_sensor_fusion Public

   Implementation of extended kalman filter in C++ that fuses data from lidar and radar to track a bicycle moving around a car

   C++ 1

5. 2D_Particle_filter_for_Localization 2D_Particle_filter_for_Localization Public

   This project involves a vehicle that is lost in a map. It uses an initial estimate of it's position from GPS and distances from landmarks measured by LIDAR and utilizes a particle filter to localiz…

   C++

6. UKF_sensor_fusion UKF_sensor_fusion Public

   Implemented a Unscented Kalman Filter and Sensor Fusion to track the position, velocity, yaw and yaw rate of a bicycle maoving closely around a car.

   C++ 1