03

Motorsport

Vehicle dynamics, interpretable control and real-time simulation: the RRHC dissertation controller, a Formula Student AI stack, and a C++ vehicle-dynamics library.

CONTROL

01

RRHC vs MPCC: A Reactive Racing Controller That Beats Online Optimisation

Final-year dissertation, submitted April 2026 — a model-free heuristic racing controller benchmarked against an IPOPT-solved MPCC under an enforced fairness contract, and shipped with a 13k-word report and a rendered screencast of the argument.

  • Python
  • NumPy
  • SciPy
  • CasADi
case study
02

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

SIMULATION

01

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
02

velox — CommonRoad C++ Port

~10.6k LOC C++20 port of the CommonRoad vehicle models (ST / STD / MB) into a reusable static library, `velox`, behind one daemon-style API — derivative outputs matched against the Python reference to 1e-13, plus a ~4.5k LOC TypeScript SDK whose JS backend is parity-checked field-by-field against the native one.

  • C++20
  • CMake
  • TypeScript
  • Python
03

FSAI Unity Driving Simulator

An earlier Unity/C# Formula Student driving sim — procedurally-generated cone circuits via complex Fourier synthesis, rescaled until the tightest corner clears a minimum radius; a dynamic bicycle model (Pacejka tyre, kinematic blend through standstill) driven autonomously by a dual-lookahead path-follower with live telemetry.

  • C#
  • Unity 6
  • System.Numerics
case study