Projects
Research and engineering projects, from multi-drone coverage control and autonomous vessels through to underwater gliders and fixed-wing UAV development.
Multi-Drone Image Sampling with Online Map Feedback
Coverage control for drone teams that closes the loop with the 3D reconstruction itself — the evolving mesh tells the fleet where the map is still unresolved, and the controller flies them back there.
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Angle-Aware Coverage Control for 3D Map Reconstruction
Coverage control that treats viewing angle as part of the state, so a drone team collects the images a 3D reconstruction actually needs — extended to large fields, steerable cameras and battery-limited missions.
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Drone Coverage Control for Moving Target Tracking
Adapting a drone's altitude and its object-detection model in real time, so detection accuracy and field of view stay matched to how the target is moving.
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Safe Autonomous Ship Operation in a Port
Hierarchical control for autonomous vessels manoeuvring inside a port, combining model predictive control with control barrier function safety certificates.
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Predictive Multi-Robot Task Allocation for Radiation Monitoring
UAV and UGV teams dispatched across a thermosolar plant to map direct normal irradiance, with a receding-horizon allocation that anticipates where measurements will matter next.
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Multi-Robot Environmental Sampling with Online Gaussian Processes
Estimating a scalar field — soil chemistry, irradiance, water quality — from readings a robot team takes at discrete points, with a Gaussian process saying where the estimate is still weakest and a two-layer controller getting the robots there.
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Hybrid Autonomous Underwater Glider
A long-endurance underwater platform combining AUV propulsion with buoyancy-driven glider motion, taken from design through lake testing.
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Arnadyaksa — Low-Cost Autonomous Underwater Vehicle
An affordable UUV for coral reef monitoring, using controlled buoyancy and a single motor to keep both cost and power draw low.
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VR Interface for Drone Swarm Teleoperation
Flying a drone swarm from inside a VR headset, with formation control holding the shape and a control barrier function keeping it safe — and a measurement of what that interface actually costs the operator.
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Automatic Screening for Diabetic Retinopathy Severity
Deep learning models for grading diabetic retinopathy severity from retinal fundus images, built on EfficientNet.
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CNN-based Brain Tumor Classifier
A convolutional neural network that classifies brain tumours from MRI into three types — glioma, meningioma and pituitary tumour.
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HALE — High-Altitude Long-Endurance UAV
Control and monitoring systems for a high-altitude long-endurance UAV with a 21-metre wingspan.
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Beyond Skyline — High-Altitude Mini UAV Flight
A 1.5-metre-wingspan UAV flown to 10,000 feet above ground level carrying weather monitoring and live video, as preparation for the HALE programme.
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Tube-Launched Folding-Wing UAV
A compact fixed-wing UAV that stows in a tube and deploys without a runway, with a coordinated relay system to extend communication range. Best Design, Indonesia Aerial Robotics Competition 2017.
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Gatotkaca Ganesha — Hybrid VTOL UAV
A fixed-wing UAV that takes off and lands vertically like a multicopter, pairing rotary-wing manoeuvrability with fixed-wing endurance. 1st Runner-Up, Indonesia Aerial Robotics Competition 2016.
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