My NMPC 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 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 Newton-Raphson Flow controller package for PX4-based quadrotor deployment. To be used with other PX4 Quadrotor packages I've developed (see Readme file).

A clean, heavily-commented Quarto + XeLaTeX academic CV template. Single-file design with custom LaTeX commands for consistent two-column formatting. Renders to a dense, professional PDF. Includes detailed inline comments explaining every design decision. Just fill in your info and run `quarto render cv.qmd`

The code accompanying the 2026 TCST Submission "Lightweight Tracking Control for Computationally Constrained Systems with Newton-Raphson Flow". Users of this code will straightforwardly be able to replicate our simulation results for quadrotor and miniature blimp.

Quarto slides template for professional Georgia Tech -themed presentations

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.

RTD-RAX: fast, safe trajectory planning for systems under unknown disturbances. Uses mixed-monotone reachability to certify and repair planned trajectories online, extending Reachability-based Trajectory Design with runtime safety assurance that handles real-world uncertainty.