Projects
2019 - 2024 - Embedded Software - Robotics engineer at Bitcraze
ROS 2 Navigation with a nano-quadcopter
During this project, I've connected a nano quadcopter with the ROS 2 framework through the Crazyswarm2 project. This allowed me to connect it to simulation, navigation packages like NAV2, or simpler mapping and navigation package strategies.
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Robotic simulators of nano-quadcopters
I've built multiple models for the nano-quadcopter, the Crazyflie, creating a low-poly Collada model suitable for multi-quadcopter simulation. These have been implemented with collision models, propeller physics, and control in both Webots and the new Gazebo.
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- Blogposts
- ICRA 2023 Workshop on Aerial Robotics Simulation:
- IEEE Robotics & Automation journal paper:
2015 - 2019 - PhD Researcher at TU Delft
Swarm Gradient Bug Algorithm
I've researched how a swarm of tiny quadcopters can autonomously fly indoors without external positioning help. This posed a significant challenge, requiring individual quadcopters to fly independently and the swarm to communicate for coordination and avoidance. To address this, I developed SGBA, the Swarm Gradient Bug Algorithm.
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Autonomous pocket drone for Swarm Exploration
Back in 2015, there was no standard platform for autonomous swarming for indoor exploration. Until the folks at Bitcraze released the right expansion decks, I had to develop my own platform for this by combining different modules together, developed internally by the engineers from MAVlab, TU Delft.
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2014 Intern at Computational Photography - NEC Japan
Coded Infrared-Cut Filter
As an intern at the NEC Corporation in Tokyo, Japan, I worked in the Information and Media Processing Labs. I focused on validating a novel high-sensitivity sensing method for computational photography. With a coded infrared cut filter, the concept could be used on regular security cameras to capture both images in the visual spectrum and infrared, which can be useful in low-light conditions.
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2011 - 2014 Study Final Projects - TU Delft
MSc Final Project - Binocular Vision Stabilization
I've developed a neural network model for the stabilization of the cameras of a binocular robotic head, based on the human cerebellum. This is based on the theory that the cerebellum processes a massive amount of sensor information and filters out the most important data for the task. This enabled the robot to more smoothly track the marker despite external disturbances, inspired by mechanisms in our own brain
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BSc Final Project - Wearable timelapse camera
Before switching to Mechanical Engineering, I completed my final project in Industrial Design Engineering. John's Phone is a company that made extremely simple cellphones as an anti-movement to smart iPhones. As the next product in their line, I conceptualized the 'John's Camera,' a wearable timelapse camera that can be clipped on and record the user's day.