Project

Mimic the methods and dynamics of jumping spiders

Organization: Cornell Collective Embodied Intelligence Lab

Multi-Robots

• Simulated Boids with various behaviors depending on robot awareness
• Implemented task allocation for multi-robot cases

Mapping

• Utilized log-odds to implement grid mapping based on bump and sonar sensors 

Motion Planning

• Used Rapidly Exploring Random Trees (RRTs) and Bi-Directional Rapidly Exploring Random Trees (Bi-RRTs) to solve path planning problems
• Implemented Potential Fields and Navigation Functions for sphere worlds
• Created roadmaps and path planning algorithms