Classes + Final Projects
Embedded Files
Nonlinear Control (CDS 233) : Spring 2022
References:
Tonkens, Sander, and Sylvia Herbert. "Refining Control Barrier Functions through Hamilton-Jacobi Reachability." https://arxiv.org/abs/2204.12507 (2022).
Orbital Mechanical Sytem
Viability Kernel from CBF using HJB
Viability Kernel from extended CBF using HJB
Obstacle avoidance with CBFs
Obstacle detection and avoidance with RRT
Atlas playing drums in ROS
Undergraduate Projects + Research (UC Berkeley)
CARLA simulations for safety evaluations for autonomous vehicles
Second Order PDE model for the ring experiment.
Design of Cyber-Physical Systems (CE 186) :
Fall 2019
About: We created a visualization tool for transit planners to better understand the needs of the transit users and propose optimal routes.
Final Project Report:
Please email bahati95 [at] berkeley [dot] edu
Adviser: Dr. Scott Moura
Arduino testing with GPS and radar sensors
Architecture of our system (database + sensors + software tool)
Undergraduate Research: Spring 2017
Group: Environmental Fluid Mechanics and Hydrology Laboratory
Advisers: Dr. Evan Variano, Dr. Nimish Pujara
Creating Hydrogel particles for analysis in a turbulence tank
Hydrogel particles in turbulence tank
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