Selected Projects

Safe Null-Space RL for Bearing-Rigid UAV Formations

• Combines rigidity-based formation control with deep RL in the TSY null space.
• Enables safe translation, scaling, and rotation while preserving bearing rigidity.
• Implemented in C++/Python + ROS2 and evaluated in cluttered/dynamic environments.

Multi-Robot Route Planner for AMRs (ROS2)

• GraphPlanner + AgentMonitor pipeline for large-scale fleets.
• Collision detection, deadlock resolution, and route validation.
• Benchmarking framework for scalable evaluation.

UAV Model Predictive Control (IEEE Access)

• Constrained MPC for trajectory tracking under input/state limits.
• Validated in simulation + processor-in-the-loop experiments.