https://abhijit4-debug.github.io/tag/autonomy/AutonomyHugo Blox Builder (https://hugoblox.com)en-usWed, 01 Apr 2026 00:00:00 +0000https://abhijit4-debug.github.io/media/icon_hua5d2116872382d6405c4fb215e02fa8e_2300_512x512_fill_lanczos_center_3.pnghttps://abhijit4-debug.github.io/tag/autonomy/https://abhijit4-debug.github.io/project/qr-guided-delivery-robot/Wed, 01 Apr 2026 00:00:00 +0000https://abhijit4-debug.github.io/project/qr-guided-delivery-robot/<ul> <li>Architected and deployed a full ROS autonomy stack on real hardware (Triton robot): Gmapping SLAM for map building, AMCL localization, move_base global/local planning, RPLidar sensing, and a 4-state FSM (WAIT → EXPLORE → QR_TRACK → ARRIVED) for end-to-end delivery.</li> <li>Designed and implemented a visibility-scored waypoint generation algorithm from occupancy maps and a depth-camera QR perception stack, enabling robust autonomous delivery with partial localization recovery.</li> <li>Validated the full pipeline on physical hardware, achieving successful autonomous delivery runs.</li> </ul>