Waqas Ali

• Implemented a complete indoor navigation package for a ground robot along with a minimal ROS library on SOC with ARM Cortex-A7 CPU. • Tested and tuned the performance of SLAM and path planning algorithms on simulation with Gazebo and in real-time. • Implemented several state-of-the-art methods such as open-karto, cartographer, gmapping for state estimation, and path planning algorithms, i.e., DWA , TEB, A* and Dijkstra.

• Developed a novel laser SLAM algorithm using C++, that can run for online state estimation. • Implemented an efficient mapping framework using adaptable local maps for laser SLAM to solve the computational complexity issues of life-long SLAM. • Developed a novel place recognition system using Bag-of-words method for 3D laser point cloud to achieve loop detection. • Applied several state-of-the-art systems including LOAM, cartographer, gmapping, AMCL, ORBSLAM and VINS for indoor and outdoor navigation.

Design and development of fuzzy logic-based navigation control for steering assist on a straight road and any turn, driving through an S-shaped path and car parking system including both parallel and garage parking.