Julian Winking

Visual Odometry Pipeline

Full monocular visual odometry system featuring sliding-window Bundle Adjustment and Loop Closure with Pose Graph Optimization. Implements KLT tracking and 5-point/P3P-RANSAC algorithms for robust trajectory estimation.

Satellite Docking

Autonomous satellite docking using Sequential Convex Programming (SCvx) for trajectory optimization. Simulates dynamic environments and enforces safety constraints to ensure precise and collision-free docking maneuvers.

Multi-Agent Goal Collection

Hierarchical coordination system for differential-drive fleets solving the Vehicle Routing Problem. Combines MILP-based task assignment with space-time reservation maps for collision-free trajectory planning.

Reducing the Influence of Model Mismatch in Bayesian Optimization Through Targeted Noise Injection

Bachelor Thesis at the Institute of Data Science in Mechanical Engineering (RWTH Aachen). Addressed model mismatch in Bayesian Optimization by introducing "Targeted Noise Injection," a data-centric strategy utilizing a novel multiplicative Gaussian likelihood to selectively down-weight misleading observations.

Flappy Bird

Solving the Flappy Bird game using Dynamic Programming and Optimal Control as a Stochastic Shortest Path Problem. Models the game dynamics and computes optimal policies to maximize survival time under uncertainty.

PID Controller Simulation Demo

A browser-based tool for experimenting with PID control, featuring real-time parameter tuning and visual feedback. Built with JavaScript, HTML, and CSS, it allows users to adjust P, I, and D gains and observe system stability instantly.