01 — ALL SYSTEMS

Real hardware, real simulation.

Every system links to its source. Newest first; the archive below goes back to the first line follower.

  1. 01PAAMB — Bioinspired Robotic SnakeBioinspired pipeline-inspection snake robotHardware / Firmware / Vision · PHYSICAL2025–26
  2. 02Coco Robot — ROS 2 Simulation PlatformROS 2 differential-drive + manipulator simulation platformROS 2 / Gazebo / IEEE ICRM 2025 · SIMULATED2025–26
  3. 03Multi-Robot Pathfinding SimulatorAutonomous Robot Navigation in a Factory Environment Using Comparative Pathfinding AlgorithmsPlanning / ISRO-URSC · SIMULATED2025
  4. 04LeRobot 6-DOF Arm — Teach & Replay6-DOF teach-and-replay arm on serial-bus servosHardware / Serial bus / Python · PHYSICAL2026
  5. 05UAV Strategic DeconflictionContinuous-time UAV conflict detectionContinuous-time CPA / FastAPI · SIMULATED2025
  6. 06TurtleBot3 Red Ball TrackerCamera-to-Nav2 visual servoing demoVisual servoing / Nav2 · SIMULATED2025
  7. 07AI Accounts Payable AgentMulti-agent invoice-processing pipelineLangGraph / Multi-agent · SOFTWARE2026

02 — ARCHIVE

Archive — earlier builds

Earlier builds, 2023–2025. Screenshots are what survive. The trajectory: sensors on an Arduino → Python on a Pi → ROS 2 → a published platform.

  1. SEM 3 · 2024 · PHYSICAL

    Sound-Sensing Line-Following Rover

    “My first robot that reacted to more than a line.” Arduino rover combining line following with ultrasonic ranging, PIR presence detection, and sound-triggered behaviour. Shown at a college exhibition.

    ARDUINO · ULTRASONIC · PIR · SOUND

    The four-wheel Arduino rover on a workbench with its ultrasonic sensor on a pan mount, mid-assembly

  2. SEM 4 · 2024 · PHYSICAL

    joyRobot (group build — electronics subsystem)

    “A robot that moved, emoted, and talked. I owned the electronics.” Designed the electronic architecture: Arduino Uno + ESP8266-01 for smartphone-linked wireless control, L298N-driven DC locomotion, a 16-channel controller coordinating SG90 servos off the Arduino’s back, MAX7219 LED matrices for the face.

    ARDUINO · ESP8266 · L298N · 16-CH SERVO CTRL · MAX7219

    The finished joyRobot: white and black rounded body, red LED-matrix eyes lit, a phone mounted on its chest as a screen

  3. SEM 4 · 2024 · PHYSICAL

    Raspberry Pi Four-Wheel Rover

    “The first robot I programmed in Python instead of C — the fork in the road that led to ROS.” Pi as the main computer, laptop/remote driving, four-wheel drive.

    RASPBERRY PI · PYTHON · DC MOTOR CONTROL

    The rover with a Raspberry Pi 4 in a red case and an L298N driver on its chassis, next to a laptop terminal printing Turning Right, Moving Forward, Motors Stopped

  4. SEM 5 · 2024 · BENCH PROTOTYPE

    Solar Panel Cleaning Robot (Design Thinking)

    “Dust costs solar panels real output; cleaning them costs people real time.” Rover-plus-brush cleaning concept taken through the full Design Thinking cycle — problem framing, market study, existing-solution analysis, design brief, report — plus a rough bench prototype: tracked drive, water feed, bristle brush head, masking tape and all.

    DESIGN THINKING · BENCH PROTOTYPE · MARKET STUDY

    The rough bench prototype: acrylic chassis with tracked rear drive, front wheels, an Arduino, a water container feeding a silicone tube, and a bristle brush head

  5. SEM 5 · 2024 · OUTREACH

    Arduino Hands-On Workshop (outreach)

    “Led a 6-person team teaching ~50 school students their first microcontroller.” I planned the curriculum and materials, and we started the students in Tinkercad — simulating circuits before any real wiring — then moved to hands-on Arduino builds with live demos and guided exercises. Grades 8–9, at Sree Narayana Public School, Kappil Mekku.

    LEADERSHIP · TEACHING · ARDUINO

    [ WRITE-UP ON LINKEDIN ↗ ]

    The six-person college team taking a selfie outside a classroom at the school — no students in frame
    The workshop poster: an Arduino board illustration over the word ARDUINO, with the Amrita Amritapuri and Student Social Responsibility marks
    THE WORKSHOP POSTER

  6. SEM 6 · JUN 2025 · PHYSICAL PROTOTYPE — FEATURED

    Gesture-Controlled Bionic Hand

    “Bend a finger; the printed hand bends with you.” Flex sensors on a glove mapped to servos driving a 3D-printed (PLA) hand, Arduino in the middle. The real lesson was electrical: the first single-Arduino build — on high-torque MG-series metal-gear servos — browned out under full actuator load, so the final architecture swapped to SG-series servos split across two Arduino boards.

    ARDUINO ×2 · FLEX SENSORS · SERVOS · 3D PRINT (PLA)

    The 3D-printed PLA hand and forearm standing upright, fingers articulated with tendon strings and servo horns visible at the knuckles
    PRINTED HAND + FOREARM — TENDON-DRIVEN FINGERS
    Fusion 360 model of the right-hand palm shell, mesh view, named Right_Hand v1
    FUSION 360 — RIGHT_HAND V1

03 — SYSTEMS I WORK WITH

Systems I Work With

ROBOT MIDDLEWARE
ROS 2 (Humble, Jazzy) — nodes, launch, TF2, ros2_control, Nav2, SLAM Toolbox
SIMULATION
Gazebo (Classic → Harmonic migration), URDF/xacro from CAD meshes, ros_gz_bridge
PERCEPTION
OpenCV, TFLite / Edge Impulse (FOMO, MobileNetV2), YOLOv8 (training/eval)
EMBEDDED
ESP32, Arduino, PIC16F877A — I2C, SPI, UART, serial-bus servos, PCA9685
LANGUAGES
Python (primary), Embedded C/C++, MATLAB
MECHANICAL
Fusion 360, SolidWorks, FEA, FDM 3D printing
BACKEND & AI
Flask, FastAPI, LangGraph, local inference (Ollama)
ENVIRONMENT
Ubuntu 24.04, Git, dual-boot workflow, GitHub Actions