About
Established technical leadership for the University Rover Challenge team, achieving 5th place nationally out of 100+ teams. Led development of a comprehensive rover system featuring integrated ROS ecosystem, Pure Pursuit GPS algorithm, and centralized camera control. The system includes real-time path tracing, non-ROS camera integration, and structured team onboarding processes that accelerated member integration by 50%.
Projects
Pure Pursuit Vectorization
Vector-based Leaflet mapping for autonomous path tracing and real-time rover tracking, improving planning efficiency and situational awareness.
- Implemented Pure Pursuit path tracking with live path overlays and rover pose updates.
- Optimized map rendering and update cadence for low-latency operator feedback.
Camera Refactor
- Unified distributed rover cameras (Flask API, Janus) into a ROS front-end.
- Implemented start/stop/take-photo and driver functions for improved control surface.
- Designed fullscreen UI with auto-fade HUD (battery, rover position) for autonomous missions.
Documentation & Onboarding
Established documentation standards and led onboarding workshops/system overviews.
System Version Tracking
Workspace scanner for repository metadata and mission-time system visibility.
- Developed a workspace scanner that collects commit hashes, branches, and repo metadata for all rover repositories at boot using Git.
- Published this collected metadata over a ROS topic to provide mission-time system state visibility.
- Integrated the data into a Redux slice and lightweight UI component for real-time system status during missions.
Arm Visualization & Control Pipeline
URDF-based arm modeling with live visualization and joint control integration.
- Authored the rover arm URDF and visualization pipeline using RViz and robot_state_publisher.
- Implemented live joint-state publishing and frontend integration to display arm state and provide joint/pose command capabilities.
- Built a control interface that allowed operators to send joint commands and visualize expected poses before execution.