Robotics Engineer Co-op
May 1, 2025
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1 min read
Overview
Worked at Northeastern University on:
Sensor Integration
Integrated 3D LiDAR and Intel RealSense sensors with the Scout Mini Rover via CAN protocol in ROS 2, deployed on Jetson AGX Orin for synchronized perception, sensor fusion, and reliable HW–SW communication.
Physical Setup
SLAM Implementation
Implemented ROS 2-based SLAM systems using:
- RTAB-Map
- LIO-SAM
- Visual-Inertial Odometry (VIO)
- SLAM Toolbox
In C++/Python with Nav2 for improved localization in GPS-denied environments.
RTAB-Map Demo:
LIO-SAM Screenshot:
UAV Motion Planning
Developed waypoint navigation and motion planning pipelines for Crazyflie and DJI Tello using the OptiTrack motion capture system.
- Automated takeoff
- Precision landing
- Closed-loop control with state estimation
Semantic Perception with VLMs
Exploring integration of Vision-Language Models (VLMs) to:
- Enhance indoor semantic navigation
- Reduce localization drift
- Enable autonomous scene understanding
