Research
My work spans four areas: multi-robot systems, decision-making, motion planning, and control & trajectory optimization—12 projects and 7 papers in all: applied in industry warehouses (scaling to 50 robots (payload up to 300 kg)) and research labs with 5 papers published in JAIR, IROS, IEEE-Access. Projects that touch more than one area get their full write-up on their primary page and a short cross-reference on the others.
Multi-Robot Systems
4 projects — team-communication-constrained pathfinding for 25 agents, motion planning up to 7 snake-like robots, scout-assisted planning for ground robots, and fleet scheduling with MQTT for up to 50-robot (payload up to 300 kg) warehouse fleets.
Decision Making
4 projects — runtime-based learning-guided planning, learning-informed navigation, GNN-based scout-actions pruning, and priority-aware scheduling.
Motion Planning
3 projects — sampling-based motion planning with robot dynamics, clearance-aware for large robots with complex dynamics.
Control & Trajectory Optimization
5 projects — MPC/MPPI/Pure Pursuit controller benchmarking, state-space control, vision-guided manipulation, dual-mode inchworm robot control, distributed control on real-time OS.