Robotics Lab

NYU Agile Robotics & Perception Lab

The fundamental and applied research in the area of robotics autonomy aim to create agile autonomous machines.

Date: August 2022
Role: Robotics Research Scientist
Skills: ROS, ROS2, OpenVINS, VIO, UAV, C++, Photogrammetry, Jetson, Path Planning, Trajectory Planning

As a Robotics Research Scientist at the NYU ARPL, my role involves being a key contributor to the UAV Autonomy pipeline, especially in Perception, Planning and SLAM. The lab’s primary focus is on developing autonomous and agile UAVs.

Responsibilities and Accomplishments:

Autonomous UAV Pipeline Development in ROS2:
- Collaborated with a team of PhD researchers to develop a UAV Autonomy pipeline in ROS2 C++.
- Implemented quadrotor geometric controller, RVIZ-based simulation, trajectory generation module, and trajectory tracking algorithm.
- Developed a ROS2-based VICON tracking and localizing package.
Modification & Deployment of OpenVINS VIO on UAV platform:
- Customized the open-source VIO algorithm, OpenVINS, to handle platform vibrations and feature loss effectively.
- Optimized the VIO algorithm for our specific use case on the UAV RACE platform.
- Deployed the modified algorithm on NVIDIA Jetson boards, utilizing approximately 70% of the computation power for reliable UAV performance.
UAV Autonomy Pipeline for NIST UAS First Responder Challenge:
- Engineered a customized UAV autonomy pipeline for the NIST UAS First Responder Challenge.
- Addressed competition-specific requirements, including localization, mapping, control, GUI, and navigation.
- Contributed to NYU’s participation in the prestigious NIST UAV First Responder Challenge, showcasing an advanced autonomous stack and achieving recognition in the competition.