Background and Work
This page holds the detailed explanation of my engineering background, research direction, and implementation work.
Core focus
- Autonomy on real robots: ROS 2 integration, Nav2 tuning, and deployment workflows.
- Semantic mapping: confirmed-only object memory for robust goal selection.
- Perception and navigation: RGB-D, LiDAR pipelines, TF alignment, localization, and planning.
- System engineering: launch tooling, bagging, debugging timing and QoS, and repeatable experiments.
Education
MSc Robotics Engineering, University of Genoa (2023-2025)
Thesis: Semantic Object-Goal Navigation on a Quadruped Robot in Known Environments (IIT DLS)
BSc Electrical Engineering, Qazvin Azad University (2018-2023)
Thesis: Optimal PID Controller Tuning for Time-Delayed Systems Using Ant Colony Optimization
Selected projects
Spot Semantic Navigation
Built a two-stage object-goal navigation pipeline on Boston Dynamics Spot with ROS 2, Nav2, and a stable semantic object database.
Voice-to-Goal Interface
Implemented speech-driven target selection using Whisper and embedding matching, then generated safe standoff goals for Nav2 execution.
ACO-Based PID Tuning
Bachelor thesis work on metaheuristic PID tuning for time-delayed systems using ACO and ITAE minimization.