02

Drones

Real-time flight control and autonomy. A hand-rolled 6-DOF quadrotor stack with four racing controllers, a cinematic camera-drone track, and a driverless autonomy core.

CONTROL

01

Aero-Lab — Quadrotor Flight Sim

Hand-rolled 6-DOF quadrotor dynamics plus four racing controllers — PID, MPCC (acados SQP-RTI), a solver-free RRHC, and a PPO policy — compared under a machine-enforced fairness contract, with the RRHC now re-ported to deterministic bare-metal C as declared prior work for a TU Delft MSc.

  • Python
  • NumPy
  • SciPy
  • acados
case study

AUTONOMY

01

AUBRY — Autonomous Cinematography Drone

A camera drone that trails you, leads you and frames the shot itself, answers with a nod or a shake, and decides between those behaviours on its own — four controllers with potential-field obstacle avoidance and a decoupled virtual gimbal, all riding the aero-lab racing stack's inner loop untouched.

  • Python
  • NumPy
  • SciPy
  • VisPy
case study
02

FSAI Driverless Racing Simulator

Architected and authored the simulation engine (~29k of 34k LOC C++) — RK4 adaptive sub-stepping over three CommonRoad models (7/9/29 state), an OpenGL stereo camera with PBO readback, and a software CAN bus to a separate VCU process. On an 11-person Formula Student AI team I wrote the physics, IO, CAN and infra; perception by teammates.

  • C++17
  • CMake
  • Eigen
  • OpenGL

EMBEDDED HARDWARE

01

Cellular-Automaton SoC Accelerator

A from-scratch SystemVerilog drawing unit that renders Wolfram cellular automata — programmable rule as a pure lookup, LFSR-seeded, taken through Vivado to an Artix-7 and demoed live on a monitor.

  • SystemVerilog
  • Vivado
  • Artix-7
  • RISC-V assembly
case study