I'm Gbemi
Oloyede

Collaborated on building an autonomous robotic system capable of LiDAR-based navigation, shelf label recognition, and state-based decision-making. Developed components of the motor control and ROS 2 integration stack, along with a user interface for processing returns, monitoring stock, and issuing direct override commands when needed.

Developed a PPO-based reinforcement learning pipeline to train a drone racing agent in simulation and deployed the learned policy on a Crazyflie 2.0. Designed custom observation spaces, reward shaping, curriculum learning, and reset strategies to achieve fast, stable gate-to-gate flight.

Designed and implemented a complete VIO-based autonomy stack for a Crazyflie 2.0, enabling fully autonomous navigation without GPS. Integrated geometric feedback control, A*-based obstacle-aware path planning, smooth 3D trajectory generation, and visual-inertial odometry for real-time state estimation

As part of a collaborative team, I helped design and build an autonomous robot from scratch. Our work spanned multiple disciplines, from hardware design to software development. The process began with creating 3D models of the robot’s components, followed by precision laser cutting for fabrication. We then assembled and soldered the electrical circuits and integrated various components, including Time-of-Flight (ToF) sensors for obstacle and wall detection.