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Battlecity Remastered (CMU 24-780)
A multiplayer C++/OpenGL remake of Battle City with several tank types and customizable maps, built to deepen the original’s tactical and cooperative play.
Dynamic Obstacle Detection and Tracking
LiDAR-visual dynamic obstacle detection and tracking that fuses DBSCAN 3D clustering with YOLO semantics and a Kalman filter, validated on both UAV and Unitree Go2 platforms.
Tunnel Inspection Demo (Fukushima, Winter 2024)
Field deployment of a self-designed UAV and dynamic mapping system for autonomous tunnel inspection at the Fukushima Robot Test Field, using LIO positioning with real-time dynamic object tracking.
Light-Weight Autonomous UAV for Obstacle Avoidance
A lightweight UAV carrying LiDAR and an Intel RealSense D435i that navigates fully autonomously without GPS, using FAST-LIO2 fused with the PX4 IMU for high-rate odometry.
Unmanned Surface Vehicle
A full-stack autonomous surface vehicle built on a PX4 controller and ROS 2 Humble, navigating from GNSS and LiDAR perception — designed, manufactured, and assembled end to end.