projects

ROS 2 package for autonomous control of a BlueROV2 underwater vehicle: depth and heading hold, AprilTag-based tracking of another ROV, and vision-based lane following.

• Small single-purpose nodes for sensing, control, and actuation, so any behavior can drive the vehicle just by publishing setpoints
• PID depth hold from barometer pressure and PID heading control with angle wrapping so the vehicle always turns the short way
• AprilTag pose estimation turned into heading and speed setpoints to pursue a target ROV; Canny + Hough lane detection for following lanes on the pool floor

Build and code for competition robots: CAD mechanism design and precise autonomous routines.

• Autonomous routines using move-to-point algorithms and PID control that held up through unexpected collisions and minute-long skills runs
• Designed mechanisms in CAD by analyzing geometry for reliable interaction with game elements
• Qualified both teams to the MA State Championship, reached quarterfinals at two 60+ team Signature Events, and won a regional qualifier

Capture the Flag cybersecurity problems for a contest drawing 1,000+ competitors.

• Wrote a PNG forensics challenge based on CVE-2023-21036 (aCropalypse): competitors recover image data left past the IEND chunk of a cropped screenshot

A mobile-first, pass-the-phone party game. Everyone gets the secret word except the impostor, who has to blend in on a vague hint.

• Installable PWA that works offline
• Handles setup, role reveal, and a fixed speaking order so a round runs entirely from one phone

My solutions to USACO, Codeforces, and Advent of Code problems, mostly in C++.