Nonlinear MPC for Autonomous Navigation

acados · Hungary Assignment · Kalman Filter

Nonlinear model predictive control for robot path planning with real-time obstacle tracking via Hungarian assignment and Kalman filtering.

Self-Balancing Robot

PID · LQR

Inverted pendulum robot balancing with PID and linear quadratic regulator control strategies for stable real-time balance.

Conflict-Based Search

Multi-agent Pathfinding

Implementation of the Conflict-Based Search algorithm for optimal multi-agent pathfinding in grid environments.

ESP32 Soil Moisture & Light Sensor

IoT · Hardware

ESP32-based environmental monitoring system with soil moisture and lux sensors for automated irrigation and light tracking.

Speech-To-Text for RoboCup@Home

ROS 2 · Whisper · C++ · with Hong Son

On-robot speech recognition for RoboCup@Home. Listens to spoken commands, runs VAD → Whisper ASR → intent parsing, and returns an action + confidence verdict (ACCEPT / CONFIRM / REJECT). No cloud, no internet — runs fully offline on Ubuntu 22.04 with ROS 2 Humble.