Mechanical Ants - autonomous delivery robots

STAGE 3 - April 2020 design update

Got back to Robaka after a long break.


  • Added 10 Hz GPS receiver for outdoor coarse localization
  • Added manual teleoperation using PS4 joystick via Bluetooth LE
  • Added Intel Realsense D435 camera on a mast, to compute driveable surface
  • Switched WiFi to AP mode for outdoor connectivity
  • Powered Jetson Nano from the hoverboard battery pack using 5V 4A DC-DC converter
  • Added fan for Jetson Nano - required to run heavy GPU loads
  • Added reset and power buttons for Nano


  • CNN-based image semantic segmentation to compute driveable surface


STAGE 2 - July 2019 till September 2019: Robaka 2

Working on a bigger and more capable mobile platform, ready for some real payload. Here's the Medium article.


STAGE 1 - May 2019 till July 2019: introduction to mobile robotics.

Working on a robocar platform based on NVIDIA Jetson Nano + Arduino, equipped with LIDAR, ultrasonic sensors, IMU, odometry sensors and camera. It's my ROS and SLAM testbed for indoor autonomy. Here's the Medium article about building the first prototype.