Develop and implement algorithms to attack the localization, mapping, SLAM, path planning, and path
tracking problems for single and multi-robot applications.
Develop the simulation testbed for all robotic solutions.
Design the security guidelines of the software development and robot deployment processes.
Design the test workflow of the software development and robot deployment processes.
Assist in the design and implementation of the robot solution API.
Assist in the design and implementation of the continuous development pipeline.
Produce research reviews of SOTA mobile robot solutions.
Developed and implemented a novel SOTA algorithm to attack the Placement Generation and Rearrangement
Planning problems.
Created several ROS modules for the Baxter robot, including object recognition, visual servoing,
pick-and-place, and real-time Bullet physics simulation integration.
Implemented SLAM on Lego MindStorms EV3.
Prepared and executed demos to encourage high-school students towards robotics and AI.
Conducted research focused on the Placement Generation and Rearrangement Planning problems as part
of the Cognitive Robotics group.
Developed and implemented novel algorithms in the context of mechatronics and robotics.
GPA: 3.65 Thesis: Placement generation and hybrid planning for robotic rearrangement
on cluttered surfaces. Main Topics: Local Search, Hybrid Planning, Robotics.
Represented the university in TÜBİTAK's electric car design-and-implementaion competition.
Co-founded the international club in its first iteration, representing and advocating for the
international and Palestinian communities within the university.
GPA: 3.35 Capstone Project: Robotic Hand Control with a Generic Glove. Main Topics: Embedded Systems, Mechanical Design, Robotics.
In this thesis, we propose a general solution to the rearrangement of multiple
arbitrarily-shaped objects on a cluttered flat surface with multiple movable objects and obstacles. In
particular, we introduce a novel method to solve the object placement problem, utilizing nested local
searches guided by intelligent heuristics to efficiently perform multi-objective optimizations. The
solutions computed by our method satisfy the collision-freeness constraint, and involves minimal movements
of the clutter. Based on such a solution, we introduce a hybrid method to generate an optimal feasible
rearrangement plan, by integrating ASP-based high-level task planning with low-level feasibility checks. Our
hybrid planner is capable of solving challenging non-monotone rearrangement planning instances that cannot
be solved by the existing geometric rearrangement approaches.
A novel multifunctional laparoscopy tool intended for robotic-assisted surgery
is motorized and a control architecture using a set of simple PID controllers is developed.
Several tools to operate theBaxterrobot using its cameras to identify, localize
and provide visual servoing for pick-and-place operations. Also allows communication with the
Bullet physics engine via ROS to generate the environment it sees in live simulation.