My Projects

Multi-Agent Coordination for Surface & Underwater Vehicles

Date: April 2025

• 🔧 Modeling and control of AUV and ASV with obstacle avoidance
• 🧠 Multi-agent architecture with task switching and priority allocation
• 📡 Inter-agent communication and autonomous navigation
• 🔬 Hardware development and dual-environment deployment

Robot Arm Bin Picking using YOLOv5, Depth Camera & ROS2

An integrated robotic bin-picking system using computer vision and ROS2. Combines YOLO for detection, PCL for 3D orientation, GPD for grasping, and MoveIt for motion planning.

Lightweight CNN for Crop Disease Detection

Designed a MobileNetV3-inspired neural network for disease detection on mobile/edge devices in agricultural fields.

Autonomous Navigation with Perception and Obstacle Avoidance

Simulated a campus in Gazebo for robot-based mapping, path planning, and navigation in changing environments.

Leader-Follower Formation Control of Mobile Robots

• 📐 Modeled WMR kinematics and formation strategies
• 📊 Implemented Lyapunov-based control for line and circular formations
• 🧪 Simulated using MATLAB

Voice-Controlled Smart Home System

Created an intelligent Arduino-based home automation system with voice recognition and environmental sensor integration using TensorFlow Lite.

Underwater Pipeline Detection using Computer Vision

Developed an accurate detection pipeline using LAB conversion, Gaussian blur, Canny edge detection, and Hough transform.