projects

A collection of my course and personal projects.

school
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Whole-body Trajectory Optimization and Tracking for a Ballbot

Optimizing and tracking whole-body trajectories for a ballbot equipped with arms. By using direct collocation and Time-Variant Linear Quadratic Regulators (TVLQR), the ballbot performs dynamic tasks such as navigating complex paths and pushing off walls, maintaining balance despite changes in its center of mass.
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On-Orbit Optimal Kinodynamic Planning for Low-Thrust Trajectory Maneuvers

Using RRT* with an LQR-based heuristic to efficiently design low-thrust spacecraft trajectories, addressing nonlinear dynamics and long-duration maneuvers.

fun