Navigate a simulated quadrotor with real-time LiDAR, reactive obstacle avoidance, and no GPS or prebuilt map
🛬 Enable autonomous quadrotor landing on static AprilTag using PX4, ROS 2, and vision-based precision for reliable UAV simulation control.
🌟 Discover resources for autonomous drone racing, from competitions to frameworks, enhancing your skills and knowledge in this exciting field.
🏋️♂️ Build and scale reinforcement learning environments for large language models with NeMo Gym, designed for seamless integration and efficient training.
An open framework to simulate and deploy perception-based PX4/ArduPilot drone swarms with ROS2, YOLO, LiDAR, NVIDIA Jetson
Full-stack quadrotor from scratch: custom ESP32 flight controller, BLE/LoRa comms, Flutter app, live SAC RL agent tuning roll-controller gains in real time, and a Unity HDRP digital twin.
Robotics PhD student at Georgia Tech's FACTS Lab, where I design provably safe autonomous flight controllers for real quadrotors. My research spans Control Barrier Functions, nonlinear control, and optimization-based methods — published at ACC, IEEE TCST, and IEEE TRO. I also build open-source tools for the robotics community.
Hybrid UAV/UGV robot inspired by CalTech M4 Morphbot — quadrotor that morphs into a two-wheeled rover for search and rescue.
ROS 2 C++ package for streaming Vicon motion-capture data into the PX4 EKF as external vision. Converts ENU→NED, publishes PX4-compatible VehicleOdometry at a fixed rate, and optionally merges fused EKF outputs into a single full-state topic for control and logging.
My NMPC controller package for PX4-based Quadrotor deployment. To be used with other PX4 Quadrotor packages I've developed (see Readme file).
My Newton-Raphson Flow controller package for PX4-based quadrotor deployment. To be used with other PX4 Quadrotor packages I've developed (see Readme file).
ROS 2 C++ package for streaming OptiTrack motion-capture data into the PX4 EKF as external vision. Converts ENU→NED, publishes PX4-compatible VehicleOdometry at a fixed rate, and optionally merges fused EKF outputs into a single full-state topic for control and logging.
PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control
Official repository for the paper "Monocular Event-Based Vision for Obstacle Avoidance with a Quadrotor" by Bhattacharya, et al. (2024) from GRASP, Penn & RPG, UZH.
Autonomous LiDAR-guided quadrotor navigation in a simulated warehouse — ROS Noetic, Gazebo 11, VLP-16, reactive avoidance + A* planning.
🛸 RoVerFly: Robust and Versatile Implicit Hybrid Control of Quadrotor-Payload Systems
The dRonin flight controller software.
Official repository for the paper "Vision Transformers for End-to-End Vision-Based Quadrotor Obstacle Avoidance" by Bhattacharya, et al. (2024) from GRASP, Penn.
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