Decentralized and Multi-Robot Controls
Institution: Harvard University
Date: Fall 2018 - present
Prof. Lina Li
Funded by the Harvard PRISE Fellowship, I am currently leading an undergraduate team in building a multi-robot algorithms testbed for Prof. Lina Li of the EE department at Harvard.
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We are working with Turtlebot3 robots, programmed using ROS to implement and simulate online tracking algorithms. As a part of this project, I learned and presented on SLAM algorithms used on the Turtlebot3 platform.
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I am also independently designing a novel multi-robot search algorithm based on zeroth-order gradient descent methods.
Above: Turtlebot implementation of online tracking algorithms
Right: MATLAB simulation of formation based source-seeking. See Ogren et al.
Earlier this year I implemented LQR and PID controllers for a m3pi robot following a circular trajectory. A vision-tracking system provided the location data of the robot, and several MATLAB scripts implemented the controller itself. See my Github for some of my research projects.
Skills: ROS/C++, MATLAB, Optimization, Reinforcment Learning, Classical Controls