Hello!

I am a senior undergraduate student at Worcester Polytechnic Institute studying Robotics Engineering, with a minor in Electrical and Computer Engienering. Currently I work in the Aerial-robot Control and Perception Lab under Professor Guanrui Li as a researcher on high speed drones.

My research interests lie in sensor fusion, optimal control, and safe autonomy. I am also particularly interested in compute, power, and space constrained systems.

On the side, I enjoy tinkering with computers, game engine development, and rock climbing.

Contact

Recent Work

Event-based MAV Navigation in Dense Cluttered Environments

WPI Best MQP Finalist / Video / Poster / Paper (mirror)

Abstract: Search-and-rescue missions in hazardous, cluttered, and dynamic environments require agile robotic systems, making Micro Aerial Vehicles (MAVs) well suited for navigating forests, collapsed structures, and urban disaster scenes. Current methods require bulky cameras or heavy compute modules. We propose an agile quadrotor platform with an event-camera perception stack that provides high dynamic range and minimal motion blur, integrated with a global planner, high-level MPC, and low-level adaptive attitude controller. We benchmark the full system across motors, perception models, and low-level control loops on the real platform, and evaluate the planner in realistic SiTL Gazebo simulation. Our platform will enable future developments in quadrotor navigation.

Keywords: Aerial Systems; Applications; Event-based Perception; Depth-based planning; Topological Gradient Planning; ROS 2; Quadrotors