ADDRAR IV

ADDRAR IV is a tethered robot that retrieves floating debris from open water. It detects targets with a custom-trained ONNX vision model on a Raspberry Pi, tracks them frame to frame, and steers itself in with a PD controller talking to custom motor firmware over serial. I owned the vision, tracking, control, and embedded software end to end.

Four layers: a Pi vision node running the classifier at ~50 fps, a multi-target tracker that holds stable identities across frames, a PD steering controller, and motor firmware with a TURN_HARD block that eliminated the old reverse-and-replan loops. The tracker took the most iteration — a hit-streak heuristic that holds identity through short gaps and rejects single-frame false hits, which is what finally stopped the boat from oscillating.

Tightening the model on glare and partial occlusions with another targeted data pass, and adding a slow search sweep for when no target is in view.