BUILDS & SYSTEMS
Robot arms, autonomous racing, embedded telemetry and legged robots. Open any project for the problem, the build and the result.
F1TENTH Autonomous Racing Stack (ROS 2)
ROS 2 Autonomous Racecar Stack in F1TENTH Gym
A hands-on ROS 2 learning implementation built on the official F1TENTH Gym simulator, progressing from safety braking (iTTC) and PID wall following to cubic spline raceline generation, pure pursuit, and multi-agent dynamic overtaking.
RESULT: 2-car overtaking at 4.0 m/s · iTTC braking under 0.4 s
Crane Health & Operator Monitoring System
Two-Module IMU Telemetry System, Field-Tested on an Escorts F15 Farana Crane
A dual-module crane monitoring system using MPU6050 IMU and ESP-NOW to track boom orientation, jerk magnitude, and lift duration for unsafe operation alerts and lift profile reconstruction.
RESULT: Field-tested on an Escorts F15 Farana crane
6-DOF Robotic Control Software Platform (Accelus Robotics)
Desktop-Based Control & Automation Platform for Industrial Arm & FAIRINO Cobot
Desktop control application built using Python and PyQt5 integrating robot SDKs, URDF/PyVista 3D visualization, and Blockly visual programming for industrial robot automation.
RESULT: Validated on a 6-DOF arm and a FAIRINO cobot
4-DOF Computer Vision Gesture-Controlled Robotic Arm
Real-Time Hand-Gesture Tracking & Joint Angle Mapping Manipulator
A 4-DOF 3D-printed robotic arm controlled in real-time by mapping human arm joint angles tracked via computer vision (OpenCV & MediaPipe) over USB serial.
RESULT: Real-time gesture control over USB serial
12-DOF Quadruped 'Spidy' Robot
Custom 3D-Printed 4-Legged Walking Platform with Servo Control
A 12-servo 4-legged walking robot built on a custom 3D-printed frame, featuring ESP32 control and a PCA9685 driver module.
RESULT: Frame, power and wiring done · gait in development
Helmet/Belt-Mounted Fall Detection & SOS Alert System
Real-Time Fall Detection, Impact Verification & Remote Blynk IoT Alerting System
A wearable safety device for workers, bikers, and elderly individuals featuring MPU6050 fall detection, impact + stillness verification, ESP-NOW wireless transmission, and Blynk IoT remote alerting.
RESULT: Drop → impact → stillness check to cut false alarms
Micro Inverted Pendulum (Cart-Pole System)
Benchtop Balancing System with Cascade PID & Encoders
A cart-pole balancing system on a linear rail driven by an ESP32, using quadrature encoders and dynamic feedback loops for system stabilization.
RESULT: Balanced with cascade PID · LQR in progress
Automated IoT Aeroponics Smart Tower
Soil-Less Farming System with Automated Nutrient & pH Regulation
An automated soil-less farming tower with environmental sensors, ESP32 telemetry and solenoid-controlled nutrient dosing.
RESULT: 2nd place, VES HACK-IT 30-hour hackathon
RoboAnalyzer Open-Source Add-On Suite
Image-to-CSV Trajectory Generator, Jacobian Visualizer & AI Chatbot
Tools that extend RoboAnalyzer: hand-drawn path extraction with 2-link IK, a Jacobian visualizer and an AI chatbot assistant.
RESULT: 1st place nationally at IIT Delhi
ESP32 Low-Latency ESP-NOW Walkie-Talkie
Peer-to-Peer Standalone Audio Streaming System
A half-duplex, routerless walkie-talkie using two ESP32s, I2S audio hardware, IMA-ADPCM compression, and ESP-NOW protocol.
RESULT: Routerless voice link, ~10–15 m indoors
Custom RF Wireless RoboWar Combat Bot
Heavy-Duty Combat Robot with Custom Laptop Xbox Controller Protocol
A high-power combat robot built with an NRF24L01 wireless link accepting low-latency Xbox controller commands bridged from a host laptop.
RESULT: Laptop-bridged Xbox control over NRF24L01
F1TENTH Autonomous Racing Stack (ROS 2)
ROS 2 Autonomous Racecar Stack in F1TENTH Gym
RESULT: 2-car overtaking at 4.0 m/s · iTTC braking under 0.4 s
Going from ROS 2 theory to a working racing stack means building, tuning and validating every layer, from a low-latency safety brake to multi-car trajectory tracking and overtaking.
Wrote a ROS 2 package (`ms_agents_pkg`) on top of `f1tenth_gym_ros` and implemented five stages: iTTC emergency braking (<0.4s), PD wall-following, reactive gap navigation with safety bubbles, cubic spline raceline path smoothing with speed profiling ($v = \sqrt{a_{lat}/\kappa}$), and a hierarchical state machine for multi-agent head-to-head racing and dynamic overtaking.
OVERVIEW
A learning project to put ROS 2 into practice on the official F1TENTH Gym simulator, the platform used in autonomous racing courses at UPenn, the University of Virginia and TU Munich. Starting from reference implementations and basic reactive agents, I built my own ROS 2 package (`ms_agents_pkg`) in five stages: Time-to-Collision (iTTC) automatic emergency braking, 2-beam PD wall following, reactive Follow-The-Gap (FTG) local planning, raceline cubic spline optimization with dynamic lookahead Pure Pursuit, and a state-machine hierarchical multi-agent overtaker for 2-car head-to-head racing at 4.0 m/s.