projects

A collection of my research, robotics systems, applied internship work, and technical projects. These pages highlight not only my research projects, but also the software frameworks, course projects, and independent projects that shaped my robotics and engineering background.

research
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Hierarchical Safe MARL-CBF for Persistent Multi-Robot Sensing

We present a safe HMARL-CBF method for predicting smoke field in an environment.
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Adaptive Control Barrier Functions for Proactive Human-Aware Multi-Robot Safety

We study whether the internal adaptation of an AdaCBF can reveal rising safety stress before a robot reaches a safety-critical situation, giving the autonomy stack time to slow down, yield, replan, or reconfigure proactively.
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Lagrangian and Hamiltonian NNs for Dissipative Systems

We investigate the applicability of Largrangian and Hamiltonian Neural Network models to a dissipative system that has explicit time dependence in its Lagrangian, Hamiltonian, and total energy.
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Computer Vision-Based Downgaze Palsy Assessment

We develop the first interactive application that allows doctors to manually select the four required eye landmarks and computes the downgaze palsy severity automatically.

selected robotics projects
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Decentralized Multi-Agent Formation Control

A ROS2 implementation of decentralized formation control and leader-follower coordination for differential-drive multi-robot systems.
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Cartpole Control: Breathing sine-wave tracking with MPC

A Model Predictive Control (MPC) design for tracking and tuning breathing sine-wave behavior in the cartpole system.
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On-Policy vs. Off-Policy Deep RL: PPO vs. SAC

A comparison of PPO and SAC on MuJoCo locomotion and robotic-manipulation tasks, covering sample efficiency, stability, hyperparameter sensitivity, and practical compute cost.
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From Dynamic Programming to Reinforcement Learning

Comparing classical control and reinforcement learning for stabilization, disturbance recovery, and model mismatch

selected other projects
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Rocket Motor STP

Design and simulation of an integrated avionics and mechanical architecture for a rocket motor static test pad
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Transformer-based German-English Neural Machine Translation

Evaluating how a German–English Transformer generalizes to longer, out-of-distribution sentences
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Tissue Segmentation and Nuclei Classification

Comparing end-to-end and pre-trained vision models for tissue segmentation and nuclei classification in melanoma histopathology.