Projects
A place to share ongoing and completed projects.
PhD Research Project - Ongoing
Hardware Interface Project - 2025
C++ - ROS2 - Sensor Driver
Developed a ROS2 C++ driver for the recent blueprint oculus M3000d imaging sonar (from official M3000d sdk and M1200d ENSTA driver). Integrated additional acoustic processing on raw sonar data. Implemented accurate representation conversion (polar to cartesian) and point cloud broadcasting. Tested sonar internal AHRS and pressure sensors. Other features are under development-testing based on our needs.
Personal Project - Ongonig
Underwater Simulation Project - 2026
C++ - Python - ROS2 - Gazebo - Stonefish
Modeled ROV Doc Ricketts + robotic arm (sketchfab) in ROS2 + Gazebo(2025). Migrated Ricketts simulation to Stonefish simulator (2026). Modeled the MOLA AUV (blender) consistent with MBARI’s vehicle specification. Integrated reconfigurable lights, proprioceptive (IMU, pressure) and exteroiceptive (DVL, camera, sonar) sensors. Configured the simulation for ROS2 and implemented teleoperation. Modeled custom underwater worlds. Tested perception and state estimation algorithms.
SRL Sequel - Completed
Master Thesis - 2025
C++ - MATLAB - ROS2 - Gazebo
Proposed and Implemented a novel index of dexterity for multi-limbed systems in MATLAB (robotics-toolbox). Validated the index on a bioinspired example. Optimized and tested the previously proposed motion sequence with the novel index. Upgraded the Gazebo simulation, and integrated the complete transformable gripper-wheel module. Implemented and tuned custom joint controllers in C++.
Research Project at SRL - Completed
Research at the Space Robotics Lab - 2024
C++ - ROS2 - Gazebo
Implemented and tested novel motion algorithms on a prototype multi-locomotion limbed robot. Updated the ROS2 joint control software for the new-end effector module. Updated the Gazebo simulation with the new robot components, and fine tuned its dynamic parameters. Proposed a new stable locomotion-mode transition algorihtm. Fine tuned the servo motors controllers and tested the algorithms on the real system.
University Project + Extra Course -Completed
Robotics Perception Final Assignment - 2023
C++ - ROS1 - ROS2 - SLAM
Implemented C++ ROS1 code to estimate the odometry of an autonomous shuttle from wheels encoders, based on real recorded data. Mapped the laboratory using recorded LIDAR + odometry data, using gmapping. Imported the map in a stage simulator and performed autonomous watpoint navigation. Studied and tested from external udemy course the Navigation Stack for ROS2.
University Project-Completed
Control of Mobile Robot Final Assignment - 2023
C++ - ROS1 - Simulation
Simulated a car-like (ackerman) robot with the simplified bicycle model, using ROS1 and a custom C++ numerical simulation (with odeint). Analyzed the simulation with a simple kinematic or a complete dynamic model, designed and tuned a feedback linearization with PI jectory tracking controller. Implemented the trajectory generator and the controller in C++.
University Project-Completed
Networked Control Final Assignment - 2023
MATLAB - YALMIP - Simulation
Modeled a benchmark control problem of a three tanks system in MATLAB, and analyzed its stability in continuous and discrete time. Tuned different control structures (centralized, decentralized, discontinuous) through Linear Matrix Inequality (LMI) theory and YALMIP optimization toolbox.
University Project-Completed
Dynamics of Electrical Machine and Drives Final Assignment - 2022
MATLAB - Simulink - PID Control
Modeled and simulated the ‘Carrelli 1928’ tram of Milan with MATLAB-Simulink, focusing on its DC (separately excited) motor dynamics. Designed and tuned a suitable speed controller, given the track specifications. Analyzed the performance with different external disturbances (slopes).
