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03 — Projects
Projects
Systems that shipped and builds worth showing — from factory-floor AGVs to autonomous field robots. Select any card for the full story.
Autonomy · Ag Robotics
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Autonomous farming robot — nav & control
Navigation and control software for a production autonomous agricultural robot: path-tracking controllers (MPC, PID, Stanley), velocity profiling, and coordination logic tying planter operations to vehicle dynamics. Prototype MPC replaced legacy PID for a 35% cut in cross-track and heading error, and now runs in production.
Path PlanningFull-stack field path planning
A graph-based mission planner generating multi-row field paths with Dijkstra search and Reeds-Shepp curves. A proprietary graph-generation algorithm plus a Reeds-Shepp RRT* collision-avoidance module cut computation time 75% for 150-acre field coverage.
Industrial · AGVFirst AGV deployment
Led Quest Industrial's inaugural AGV project on a potato-chip line, boosting production-line efficiency by up to 170% and replacing manual fork-truck transport. Built an IEC 61131-3 precision PID steer/drive algorithm in Kollmorgen KAS, multi-AGV traffic management, and SICK microScan3 / TIM100 safety scanning.
Industrial · PalletizingYeast line AGV & palletizer cell
Programmed a Rocla counterbalance AGV to move pallets up to 2,000 kg, surveying reflector positions across a 1,200 m² facility to 0.2-inch tolerance and tuning travel paths for 25% higher throughput than projected. Paired with a Fanuc M-410iC/110 palletizer and a multifunctional gripper stacking bags up to 50 kg.
ManipulationDeclux — autonomous decluttering robot
Perception and grasp-calculation pipeline for an autonomous decluttering robot: YOLOv7 detection and localization integrated with ROS MoveIt! and FrankaPy, using GraspNet and Dex-Net for grasp estimation — reaching a >85% grasp-success rate in cluttered scenes.
Field RoboticsTree-nursery weeding AGV
Led an autonomous weeding robot end to end as project manager and CV contributor: an MPC path tracker holding sub-centimeter accuracy in nursery rows, a learning-based visual-servoing system that raised detection accuracy 42%, and a laser-based weed-elimination prototype — delivered under budget with 100% sponsor satisfaction.