Ankit Khandelwal

Aspiring Roboticist looking to tackle rigorous challenges at the forefront of innovation

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Personal Projects

Project Lead for Carnegie Mellon Racing

22a - Autonomous FSAE Racecar w/ Top Speed of 40MPH

Extended Kalman Filter SLAM

Worked with Professor John Dolan to develop a EKF-SLAM algorithm to map a racetrack autonomously

19a - 1st Driverless Car to Complete Autonomous Lap at American FSAE Competition

Developed Perceptions system for Driverless racecar, including YOLO Object Detection + LiDAR Point Cloud Clustering.

YOLOv5 Object Detection Neural Network

Trained YOLOv5 model to detect cones for Formula Student Driverless project. Achieved 92% accuracy on cone detection.

Simulator Setup - Docker + ROS2

Created Docker container to make open-source simulator platform-independent and used ROS2 Galactic to interface with simulator data.

Project Caelus Avionics System

Custom PCBs for rocket engine test stand to support flight computer, sensors, and valve actuation boards. Groundstation override allows human operator to take control at any time.

Ascent - Vertical Take-off and Landing Rocket

Propeller-powered rocket that can autonomously hover and land. Running custom C++ software, using Read-Control-Actuate logic, with onboard Kalman Filtering.

Custom Drone - Mark II

Fully custom drone based on Arduino Teensy 3.2. Frame designed in Fusion 360 CAD. Running custom C++ flight software with built-in PID feedback loops.

Custom Drone - Mark I

Custom drone based on COTS parts. Running open-source BetaFlight software. Logged 50+ flight hours on simulator, 25+ hours drone pilot hours.