Quad-Thruster Water Robot (USV)
Semester project (6.00/6.00) — a novel unmanned surface vehicle ready for on-water swarm integration.
A semester project at IDSC, ETH Zürich, in which I designed and built a novel Unmanned Surface Vehicle (USV) driven by four independently controllable thrusters. The work spanned the full stack — mechanical design, electronics, embedded software, and control — and produced a platform ready for on-water swarm experiments.
State estimation combined onboard sensing through a Kalman filter, with the software running on ROS on a Raspberry Pi.
- Supervisor: Prof. Dr. Raffaello D’Andrea — IDSC, ETH Zürich
- Grade: 6.00 / 6.00
- Keywords: mobile robots, ROS, Linux, Raspberry Pi, Kalman filter, SOLIDWORKS