Sam Khalandovsky

At MIT Lincoln Laboratory, I was tasked with integrating their LandShark robot with ROS, and developing code for waypoint-based patrolling using the onboard GPS and INS systems. To this end I wrote ROS drivers to process the GPS and INS data, and used a pure-pursuit method for trajectory planning via provided GPS waypoints. This was all wrapped up in a graphical interface to allow clicking on a map on which the robot's calculated trajectory and waypoints would be displayed.