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Data-Driven Risk-sensitive MPC for Multi-agent Systems

I worked on this project with Prof. Ashish Hota, for my Bachelors and Masters thesis. I developed a data-driven optimization-based controller (MPC) to constrain the risk associated with the motion plans for multi-agent systems.
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Multi-Objective Planning in Stochastic Ocean Environments

This work was carried out under Prof. Deepak Subramani, Indian Institute of Science, Bangalore during my summer internship. I worked on GPU-based algorithm for policies for autonomous agents in highly advective ocean flows.
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Revolute Robotics

Revolute Robotics is a US-based startup working on hybrid rolling-flying robots for inspection and surviellance in complex environments. As a part-time Controls Engineer, I developed controllers for rolling on uneven terrains and autopilot software for aerial-terrestrial mobility.
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Trajectory Planning for Racing Drones

This project was carried out under Prof. David Saussié, Polytechnique Montréal during my summer internship. I developed a simulation frameowrk for drone racing and demonstrated trajectory planning and control algorithms on the same.
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Aerial Robotics Kharagpur

ARK is a student research group at IIT Kharagpur, mentored by Prof. Somesh Kumar. I am a part of the Controls team from my first year where I was introduced to robotics for the first time. Here, I have worked on various independent and colaborative projects.
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Vector Field Guidance for Fixed-Wing UAVs

This work was carried out under Prof. Sikha Hota, IIT Kharagpur. I developed a new time-optimal guidance algorithm for fixed-wing UAVs that could closely match the performance of the discontinuous bang-bang controller.