Projects

Projects in robotics, planning & control

Concise summaries with links to code.

MAPTOR (Multiphase Adaptive Trajectory Optimizer)

Python framework for trajectory and design optimization built on CasADi, featuring pseudospectral methods, multiphase missions, adaptive mesh refinement, and SymPy-based mechanics.

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Swarm Intelligence

Wolf-Inspired Drone Path Planning

3D drone path planning with Grey Wolf Optimization (GWO) to search obstacle-aware routes; provides configurable fields and 3D animation.

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Trajectory Optimization

Car Parallel Parking

Optimal trajectory planner via direct multiple shooting (kinematic bicycle model) with collision checks and a 2D parking animation including steering feedback.

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Nonlinear MPC

Rocket Landing — Nonlinear MPC

Nonlinear MPC for a 2D rocket landing task with visualization and telemetry (thrust, gimbal, states) implemented in Python and CasADi.

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Urban Air Mobility

eVTOL Landing — Bachelor Thesis

Simulation framework for eVTOL landing trajectories with static and dynamic collision avoidance using direct methods.