All Projects

4WD skid-steer AMR running ROS2 Humble with SLAM Toolbox, Nav2, and EKF sensor fusion. RPLIDAR + OAK-D Lite for perception, YOLOv8 on-device waste detection, 6-DOF arm via MoveIt2. Capstone project, compute split across Raspberry Pi and laptop over a UART-to-ESP32 control bridge.

End-to-end MLOps platform for credit card fraud detection. Nine-container Docker Compose stack: Airflow, MLflow, Feast, FastAPI, PostgreSQL, MinIO, Redis, Streamlit. Sub-10ms feature serving, daily automated training pipeline.

Python traceback debugging assistant built on Qwen2.5-3B via llama.cpp, with a two-tier RAG corpus for grounded fixes. Built for the Africa Deep Tech Challenge 2026.

Retrieval-augmented generation platform using sentence-transformers, ChromaDB, and Mistral via Ollama, with FastAPI serving, MLflow tracking, and Evidently monitoring.

Comparative study of BFS, DFS, A*, and a Genetic Algorithm on static and dynamic grid environments. Custom C++ visualization engine built with Raylib, benchmarked across a 100x100 grid with moving obstacles.

XGBoost forecasting pipeline for Abuja PM2.5 levels, backed by a Hopsworks feature store with a GitHub Actions feature-training-inference (FTI) pipeline.

Retrieval-augmented generation platform using sentence-transformers, ChromaDB, and Mistral via Ollama, with FastAPI serving, MLflow tracking, and Evidently monitoring.

6-DOF robotic arm simulated in Gazebo with URDF/XACRO modeling, ROS2 control, and Python scripting for motion commands.

Modular control package supporting keyboard, gamepad, and scripted input, all relaying through a common /cmd_vel topic for clean separation between input sources and robot control.