projects

research

ClusterFusion

A radar-monocular camera fusion-based 3D object detector for autonomous vehicles. Achieved state-of-the-art performance among similar methods on the nuScenes detection leaderboard.

Autonomous Tram

An autonomous tram developed in cooperation with the Indonesian Railway Industry Company (PT INKA) and PT Riset Kecerdasan Buatan (PT RKB). I was in charge of the radar-based perception system and the tram's system integration.

Dagozilla

Two generations of autonomous mobile soccer robots designed for the RoboCup Middle Size League.

Soca

An autonomous ultraviolet-C germicidal irradiation robot. Built in simulated environment using ROS and Gazebo.

Soca Octomap

A method for simulating ultraviolet germicidal irradiation (UVGI) systems' irradiation coverage in Gazebo. This project enables optimal static UVGI system placement and mobile UVGI system route and fleet planning.

Dagozilla Telepresence Robot

A telepresence robot that is designed to represent the user. The robot can be controlled via the internet, and will stream the user's face and voice.

coursework

Self-Balancing Bot

A two-wheeled self-balancing robot developed as my EL5214 Embedded Control Systems course final project. The robot balances itself upright and can be controlled using a joystick.

Scan Matching-based 2D Lidar Odometry

A simple scan matching-based 2D lidar odometry ROS node written as my EL5000 Advanced Mathematics course final project. The scan matching is solved using the iterative closest point (ICP) algorithm, implemented in C++ using Eigen.

Security Guard Robot

A mini security guard robot developed as my EL4126 Robotics course final project. This robot patrols the environment for unknown or wanted faces and will alarm the human guards immediately whenever one is found.