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State Estimation and Filtering Methods Extended Kalman Filter State Estimation for Pendulum System https://images.squarespace-cdn.com/content/v1/61c89cbf517ba63e04d97d01/ed4e5c26-c64b-4d5a-9259-e20d67f26129/GHFK-5.png Projects - State Estimation and Filtering Methods 3rd Order Gauss-Hermite Kalman Filter for State Estimation https://images.squarespace-cdn.com/content/v1/61c89cbf517ba63e04d97d01/836a2bbb-ffae-4350-b073-d91e0c7e9fd4/GHFK-3.png Projects - State Estimation and Filtering Methods 5th Order Gauss-Hermite Kalman Filter for State Estimation https://images.squarespace-cdn.com/content/v1/61c89cbf517ba63e04d97d01/fbe51d9f-5ac2-413a-8f2c-7aad2a8802ce/UKF_.png Projects - State Estimation and Filtering Methods Unscented Kalman Filter for state estimation https://images.squarespace-cdn.com/content/v1/61c89cbf517ba63e04d97d01/2d19aed7-018f-4ae4-953c-d87e6aa895b1/PF_UKF_Bootstrap_01_5.png Projects - State Estimation and Filtering Methods Particle Filter vs. UKF for state estimation, displaying the empirical distribution that the particle filter is capable of representing. https://images.squarespace-cdn.com/content/v1/61c89cbf517ba63e04d97d01/54208446-846c-4ecf-86bb-723f51cb7d7b/Screen+Shot+2021-12-26+at+11.17.46+PM.png Projects - State Estimation and Filtering Methods - Filtering and State Estimation This project was completed for AEROSP 567: Statistical Inference, Estimation and Learning. Implemented a variety of Gaussian Filters along with a particle filter with a bootstrap and optimal proposal. Relevant Skills and Topics: Python Gaussian Filters EKF UKF Gauss-Hermite KF Particle Filters https://www.obagoren.com/portfolio-2/mobile-robotics monthly 0.5 2021-12-26 https://images.squarespace-cdn.com/content/v1/61c89cbf517ba63e04d97d01/a367d19b-05dd-4dc0-bfa5-b92efe80a240/Screen+Shot+2021-12-26+at+10.55.19+PM.png Projects - Mobile Robotics - Mobile Robotics This project was for ROB550: Robotics Systems Lab at the University of Michigan. The task was to implement the controls and perception to an autonomous mobile robot in order to explore and map previously unobserved environments. I was part of a 3 person team for this project. Relevant Skills and Topics: C++ LCM SLAM Path Planning Motion Control https://images.squarespace-cdn.com/content/v1/61c89cbf517ba63e04d97d01/264c4f0a-9b20-4042-91a0-55b10bf74c7b/Screen+Shot+2021-12-27+at+4.18.32+PM.png Projects - Mobile Robotics - Make it stand out Map generated from a maze that the robot followed with given waypoints. 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