A running collection of robot experiments I’ve run, each with a video and a short description.

MIT ACL Outdoor AGV Exploration Mission

Demo of outdoor, GPS-denied, mesh comms, decentralized exploration and mapping mission.

Multi-Agent SLAM and Planning

Multiple robots simultaneously localizing, building a shared map, and planning their motion through the environment.

3D Printed Arm & Table Cleanup Policy

An arm I built from 3D printed components and trained to clean up pins on my apartment table.

6 UGV Swap with Obstacle Avoidance

Six UGVs swapping positions while avoiding obstacles, using WarpWeaver, the decentralized real-time multi-agent planner from a paper I co-authored, Dispersive Tree Agreements for Multi-Robot Coordination.

10 UGV Swap with Deconfliction

Ten UGVs swapping positions while deconflicting their paths with each other, also using WarpWeaver.

Fun Obstacle Course Teleoperation of UGV I Built

Teleoperating a UGV I built through an obstacle course, just for fun.

Drone-Based Infrastructure Inspection Demo

A demo of using a drone to inspect infrastructure.