End-to-end autonomous drone navigation stack for GPS-denied flight in caves, mines, tunnels, and industrial interiors. Covers every layer from sensor fusion and GPU mapping to 6-level autonomy management, Smart RTL, MAVLink flight control, a custom binary comms protocol, and a cross-platform ground station — all designed, architected, and implemented solo.
Three-pillar architecture: autonomous flight stack, multi-session relocalization for repeat inspections, and a cross-platform Qt6 GCS (Linux · Windows · Android)
Always-on Smart RTL — weighted A* with clearance-aware costs, 0.5 s replan cycle, dynamic prefix + cached static corridor; immediately executable on comms loss
6-level autonomy hierarchy (Full Exploration → Failsafe) with automatic degradation, independent safety watchdog, ESDF-filtered velocity gate, and stream-health failsafe trigger
Custom LION binary UDP protocol with packet fragmentation/reassembly — streams 50 M-point clouds to GCS over constrained wireless links with bi-directional command plane
Multi-session relocalization: Scan Context retrieval + ICP/NDT refinement loads prior map bundles for repeat-inspection workflows without GPS or ground truth
Autonomy Depth
Sensor fusion → SLAM → planning → safety → FC execution in a single deployable stack
GCS Rendering
Up to 50M points live on constrained hardware over custom binary protocol
Operational Resilience
Runs under comms loss, degraded sensors, and GPS-denied environments by design
ROS 2 Humble
C++17
FAST-LIO
nvblox CUDA ESDF
GTSAM iSAM2
Scan Context
Smart RTL
6-Level Autonomy
Custom Binary Protocol
Qt6 Cross-Platform GCS
MAVLink / ArduPilot
WebGPU / WebGL2
