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@solonso
solonso
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Solomon Chibuzo Nwafor solonso

Robotics researcher bridging control, perception, and machine learning, with applications in healthcare imaging and autonomous systems for food security.

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solonso/README.md

Robotics and Control Engineer

Field robotics · SLAM · Mobile manipulation · Planning · Perception

portfolioemaillinkedin

Scout + xArm6 Robot Simulation - Gazebo

Advancing autonomy through robotics, perception, and control

What I work on

  • Mobile robot navigation and mapping
  • EKF/ICP-based SLAM and state estimation
  • Task-priority control for manipulators
  • Planning with Dubins constraints
  • Medical image analysis for lesion detection and change assessment

Current focus

  • Reliable autonomy for field robots
  • Integration of perception, planning, and control
  • RGB-D point-cloud ICP in EKF pipelines
  • Mobile manipulation on Turtlebot + SwiftPro
  • Longitudinal lesion analysis and ΔE-based color metrics

Selected work

  • Pose-Based EKF SLAM

  • Task-priority control with inequality constraints

  • Next-Best-View exploration with Dubins planner

  • iToBoS lesion detection (1st place Kaggle)

  • Dermoscopic change detection pipeline (internship project)

rospythonopencvopen3dpclnumpymatplotlib

📊 GitHub Stats

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Robotics Integration Demo

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