Projects

This page collects selected research and engineering projects developed during my PhD.

Terrain-aware MPPI Navigation

Reactive local navigation for unmanned ground vehicles using 2.5D terrain maps, learned guidance and MPPI-based predictive control.

Status: in development
Topics: field robotics, MPPI, terrain mapping, ROS 2, UGV navigation

RGB-T Onboard Perception for UGVs

Real-time RGB-T perception pipeline for search and rescue robotics using onboard embedded computing, RGB cameras, thermal cameras and ROS 2.

Status: IROS 2026 related work
Topics: robotic perception, RGB-T, Jetson, ROS 2, search and rescue

2.5D Map Compression

Local map management and intelligent compression of 2.5D elevation maps for long-term navigation with limited onboard resources.

Status: prototype
Topics: mapping, compression, embedded robotics, terrain representation

ROS 2 Robotics Infrastructure

Docker-based development environments and deployment tools for ROS 2, Gazebo, Jetson, perception pipelines and multi-machine robotic systems.

Status: ongoing
Topics: ROS 2, Docker, CycloneDDS, Jetson, robotics software