Omkar Savant's repositories
Racecar-Local-Planner
ROS package for a motion planner used in head-to-head autonomous racing.
Space-Balloon-Flight-Prediction-Tool
Update: The Penn Aerospace Club Balloon Team has updated this algorithm and used it in a Simulink Model that works much better. Alexis Mitchnick, Dani Gelb, and I contributed to the Simulink model. The code is available here: https://github.com/PennAerospaceClub/HAB11/tree/master/AltControl. This is a tool I wrote in MATLAB that takes inputs about balloon mass, payload mass, and volume to determine the vertical trajectory of the balloon as a function of time. This functionality is used by our High Altitude Balloon team when determining aerial photography and altitude changing maneuvers.
Potential-Field-Motion-Planning
Matlab script for local motion planning on a 6 DOF Lynx Robotic Arm
TB-LQR-RRT
Time based LQR RRT for collision planning
CAD-and-Machining-Projects
This contains a few of my personal CAD and machining projects.
Convex-Feasible-Set-Extension
An implementation and extension of the Convex Feasible Set Algorithm for Real Time Optimization in Motion Planning (Changliu et al. 2018), written in MATLAB.
Exoplanet-Atmosphere-Opacity-Tool-
This is a web tool for astrophysicists to use to visualize predictions of the opacities of exoplanet atmospheres. Traditionally, this is a tedious process that can only be done by hand by a few experts in the field because of the millions of data points to sift through. This tool accesses a repository of more than 93 million data points to interpolate and present data to scientists about the abundance of certain chemicals as well as their spectral signatures on planets given the expected pressures and temperatures. I wrote this with a partner, Adele Bloch, while interning at UC Santa Cruz under Caroline Morley.
Rasterizer-and-Interactive-Camera
A rasterizer written in C++ to draw scenes composed of polygons. Includes an interactive camera that allows the user to view the object from multiple angles as well as texture mapping and shading.
a_stars_ICP_finder
ICP algorithm implementation. #need to update description sometime soon!
a_stars_wall_following
The wall_following package to run with both Gazebo simulator and VSEC
Battlebots-Robot
Remote controlled robot for a battle bots competition based on ESP8266 and Teensy MCU
ChromeTrex-ML
Attempt at using supervised learning and reinforcement learning approach to learn the Chrome TRex game
iot-hub-python-raspberrypi-client-app
Changed Azure IoT example to work with the PING Ultrasonic sensor. Original PING code is from https://tutorials-raspberrypi.com/raspberry-pi-ultrasonic-sensor-hc-sr04/
pyfolio
Portfolio and risk analytics in Python
ScanMatching_ICP
Iterative closest point approach to scan matching- roughly based on Censi point to line approach