A split-compute autonomous UAV system for GPS-denied terrain surveying, boustrophedon coverage, visual landmark detection, and edge-AI inference using Jetson, MAVLink, GStreamer, OpenCV, and TensorRT.
GPS-denied autonomous drone survey: RTAB-Map VIO + optical flow flight, lawnmower survey, WhyCode precision landing. Stitches 2D photos into a map, finds objects with DINOv2, and reconstructs a 3D model (photogrammetry / SfM-MVS). ROS 2 stack, live dashboard, ESP32 auto-docking.
Decentralized multi-drone autonomy for GPS-denied urban search & pursuit — onboard VIO, CPU/GPU mapping, decentralized planning & cooperative interception on PX4 + Gazebo + ROS 2.
Autonomous Rescue & Exploration System (ARES) — A modular autonomous robotics platform for GPS-denied indoor exploration.
Simulated GPS-denied visual localization: ORB feature matching + optical-flow odometry fused via UKF. Live dashboard + JS-ported parameter sandbox, validated bit-for-bit against Python.
Open-source, memory-safe flight control software in Rust — from hobby drones to certified eVTOL and transport aircraft, with GPS-denied navigation, formally verified math, and redundant/dissimilar nav for safety-critical flight.
Robust Speed Control for UAV Infrastructure Inspection Under Visual Localization Degradation
Astro front end Simulation-first mission dashboard for dangerous, GPS-denied, partially inaccessible environments with a Django REST API backend for managing mission parameters
Drone navigation without GPS: visual odometry + satellite-map georegistration fused in an EKF. numpy and stdlib only.
Research and evaluation platform for stereo MSCKF visual-inertial odometry in GPS-denied UAV navigation, extended with estimator diagnostics, EuRoC benchmarking, trajectory analysis, and real-time visualization.
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