Advanced Robotics with XRP
Semester‑long labs and final project programming Tufts’ XRP platforms.
This advanced robotics course focused on programming XRP platforms and and implementing theory into actual code. There were four main lab activities, each building on the last to develop a deeper understanding of robotics concepts such as PID control, state machines, forward kinematics, and Kalman filtering. For the final project, my group designed a relay race for the XRPs.
See a brief description for each below, and access the source code through the github links.
Labs Overview
Final Project: XRP Relay
Utilized the line sensor, a smart HuskyLens camera, and wireless communication to relay multiple XRPs around a track.
- Controlled movement of XRP with bang-bang and PID controllers
- Used camera with AprilTag detection to identify checkpoints and detect fellow XRPs
- Communicated wirelessly with the user and between XRPs using MQTT functionality