Dynamics of Robotic Self-Assemblages
We created a simulation of a robotic system inspired by the bridge-building behavior of army ants, using omni-directional robots as the platform. The team developed kinematic and dynamic models, implemented quintic trajectory planning for smooth motion, and validated the concept through Gazebo simulations. Although a full multi-robot assembly wasn’t realized, the project successfully demonstrated individual robot dynamics as a proof of concept.
Autonomous Underwater Vehicle Control
I collaborated with a team to design and simulate an underwater robot control system using MATLAB. Our model incorporated key dynamics such as buoyancy, drag, thrust, and environmental currents, with PD controllers regulating orientation, position, and depth. We validated the system through multi-phase trajectories—covering descent and search patterns—demonstrating its ability to correct initial errors, maintain course, and remain stable in fluctuating conditions.