Research Experience

@ CoOL Lab, MSFEA, AUB

Analysis of an SIRS Model on a Contact Network

Modeled SIRS spread across networked populations under the mean-field approximation.
Derived a spectral threshold parameter to separate disease die-out from persistence on arbitrary undirected graphs.
Proved local asymptotic stability of the endemic equilibrium via Perron-Frobenius scaling for Metzler matrices, relaxing prior restrictive assumptions.
Validated through numerical simulations on heterogeneous networks — convergence to disease-free or endemic states above and below the threshold.

@ Vision & Robotics Lab, MSFEA, AUB

Autonomous Targeting of Pine Processionary Moth (PPM) Nests via a Multirotor Drone

Architected the full autonomous UAV stack (ROS + PX4 + Gazebo) for precision treatment of PPM nests — covering the complete mission lifecycle from GPS waypoint navigation to vision-based injection.
Integrated a smooth polynomial trajectory planner for collision-free 3D navigation through cluttered forest environments — seeding via A* search and optimizing with L-BFGS to generate dynamically feasible flight paths.
Built a hierarchical 8-state finite state machine governing the mission: takeoff, GPS navigation, search, ArUco-based visual servoing, task execution, return home, and landing — with sliding-window detection filtering and timeout fail-safes.
Developed an ArUco fiducial marker pipeline for precision visual servoing — marker detection, PnP pose estimation, planar ambiguity resolution, and configurable 1.5m standoff tracking — enabling reliable positioning relative to the nest for targeted injection.