aQuatonomous — Autonomous Surface Vessel
A Level-3 autonomous catamaran built for the RoboNation RoboBoat competition. Developed real-time navigation, control, and perception on a Jetson Orin Nano.
Overview
The vessel fuses LiDAR, IMU, and camera data for fully autonomous waypoint navigation. I led the autonomy and electrical subsystems, designing control and telemetry architectures.
Key Contributions
- Designed ROS2 node graph connecting perception → control → actuation.
- Implemented EKF-based localization ( < 1 m drift ).
- Tuned PID controllers to hold heading within 2° during wave disturbances.
- Managed 50 + member team and coordinated hardware–software integration.