M.Sc. Mechanical Engineering student specializing in Mechatronics at the University of Duisburg-Essen, focused on robotics, autonomous systems, perception, state estimation, and control.
I work primarily with ROS 2, C++17, Python, Linux, robotics simulation, sensor integration, and automated testing.
- ROS 2 robotics software and autonomous systems
- Modern C++17 and Python
- Autonomous navigation, SLAM, and localization
- State estimation and multisensor fusion
- Robot control and trajectory tracking
- 3D LiDAR perception and point-cloud processing
- Computer vision and deep-learning inference
- Linux, Git, CI/CD, automated testing, and simulation
Autonomous-mobile-robot stack built with ROS 2 Jazzy, Gazebo Harmonic, ros2_control, Nav2, SLAM Toolbox, and AMCL.
Includes LiDAR/IMU sensing, C++ safety monitoring, mission/evaluation tooling, automated testing, CI, and quantitative navigation validation.
ROS 2 C++17/PCL pipeline implementing point-cloud filtering, constrained RANSAC ground segmentation, Euclidean clustering, 3D bounding boxes, optional Kalman tracking, diagnostics, RViz visualization, testing, CI, and performance benchmarking.
Custom six-state EKF implemented in C++17/Eigen for wheel-odometry, IMU, and GNSS fusion.
Includes NIS gating, robust measurement handling, Joseph covariance updates, fault scenarios, quantitative evaluation, automated tests, and comparison with robot_localization.
Reproducible ROS 2 benchmark comparing PID, Pure Pursuit, LQR, and constrained linear MPC for differential-drive path tracking.
Evaluates controller performance under noise, wheel slip, pose errors, and actuator constraints using a 64-trial test matrix.
ROS 2 object-detection pipeline using Python, PyTorch, torchvision, and OpenCV.
Includes native ROS 2 detection messages, model benchmarking, diagnostics, AP50 evaluation tooling, automated tests, and CI.
Contributed to a physical ROS 2 autonomous catamaran using an NVIDIA Jetson AGX Orin, Ouster OS0-32 LiDAR, Marvelmind positioning, and Teensy 4.1-based motor control.
My work included LiDAR obstacle processing, reactive navigation, ROS 2/TF integration, hardware integration, troubleshooting, and physical water-basin testing.
The source repository is not public because the project involved shared university, team, and vendor resources.
Developing a ROS 2 mobile manipulator combining holonomic navigation, localization, perception, MoveIt 2-based manipulation, and system-level task execution.
I try to treat portfolio projects as engineering systems rather than demonstrations by including:
- reproducible setup and configuration
- automated unit/integration/runtime testing
- CI workflows
- quantitative evaluation
- documented limitations and failure cases
Languages: C++17, Python, Bash
Robotics: ROS 2, Nav2, SLAM Toolbox, AMCL, ros2_control, TF2
Perception: PCL, OpenCV, PyTorch, torchvision
State Estimation: EKF, Eigen, IMU/GNSS/odometry fusion
Control: PID, Pure Pursuit, LQR, MPC
Simulation: Gazebo Harmonic, RViz2
Development: Linux, Git, GitHub Actions, CMake, colcon
Platforms: NVIDIA Jetson, Raspberry Pi, Teensy, ESP32