Projects

Connectivity Maintenance in Ad-hoc UAV Networks for Multi-robot Missions

Master's Thesis - University of Zagreb (2024)

Modified a classic connectivity controller to include battery awareness and fault tolerance for a swarm of UAVs. Analyzed the feasibility of Graph Neural Networks (GNNs) for imitation learning. Demonstrated a full fleet management system using Bitcraze Crazyflie UAVs.

Thesis Code

Flocking, Rendezvous and Formation Control of Multi Agent Systems

University of Zagreb (2023)

Implemented Reynolds' rules to simulate decentralized flocking in Stage Simulator for unicycle dynamic agents. Developed consensus-based rendezvous and formation control in Stage Simulator.

Code Video

Autonomous Pick and Place using TurtleBot

Universitat de Girona (2023)

Implemented multiple frontier selection and path planning algorithms with smoothing techniques. Integrated with self-implemented SLAM for mapping and localization, enabling fully autonomous pick-and-place.

Video

Autonomous Mapping and Human Localization for Indoor Disaster Management UAVs

Bachelor's Thesis - Habib University (2022)

Developed an exploration algorithm tailored for UAVs in GPS-denied environments. Implemented a module to detect and localize human survivors using YoloV3. Simulated using a PX4 quadrotor in disaster-like environments.

Thesis Video

Mathworks Minidrone Competition (EMEA '21)

Mathworks Competition (2021)

Designed and implemented image processing and path planning algorithms to make Parrot Mambo mini-drone follow a line in Simulink simulation. A unique approach was used to make the drone follow the line on very steep turns.

Code Video

WHEEL-E: A Self-Balancing Robot

Habib University (2020)

A self-balancing robot developed as the final project for Principles of Feedback Control course. The bot was capable of balancing itself and maintaining upright position on 2 wheels. Arduino UNO R3 along with MPU6050, L298N motor driver and Pololu gear motors were used. PID algorithm was implemented for balance control.

Code Video

Mariana Trench Fishing

Habib University (2020)

A fishing game developed as the final project for the Object Oriented Programming (OOP) course. Developed using C++ and SDL library with engaging gameplay mechanics.

Video