Robots


2018 - Present

2018_racecar

Fleet of Autonomous Racecars, Full-stack

Leading a team of students to design a fleet of low-cost autonomous RC cars. The platform is equipped with a suite of sensors and can travel up to speeds of 22m/s. The goal for this platform is to use if for education, for testing algorithms and for a low entry barrier to running robot experiments.

2018 - Present

2018_roman

Mobile Manipulator, Planning

Developing a motion planning stack for a mobile manipulation platform ROMAN for ARL’s RCTA project. The robot is capable to lifting up to 25kg. The base has tracks allowing it to traverse over difficult terrain. The goal for this robot is to clear a pile of heavy debris autonomously.

2013 - 2017

2013_2017_aacus

Full-scale Helicopter, Planning

Developed the motion planning software pipeline for a full-scale autonomous helicopter for ONR’s AACUS project. The robot can fly up to 60m/s and sense up to 1200m. The software was evaluated on multiple platforms: Boeing’s Unmanned Little Bird and Bell 206 Jetranger.

2017

2017_hexarotor

Large Hexarotor, Planning

Developed the motion planning software for a hexarotor platform belonging to Near Earth Autonomy. The platform is a DJI-M600 that flies up to 15m/s. It has two VLP-16 sensors with 100m range.

2017

2017_mini_aacus

Small Quadrotor, Planning

Developed the motion planning software for a quadrotor platform assembled by AirLab. The platform is a DJI-M100 that flies up to 5m/s. It has a Hokyuo laser with 18m range.

2015

2015_pixhawk

PixHawk Trajectory Tracker, Planning

Implemented a spline trajectory tracker for a PX4 unit using a differentially flat controller. The code was tested on a custom quadrotor platform flying indoors.

2012 - 2013

2012_2013_octorotor

Large Octorotor, Planning

Developed the motion planning software for a custom octorotor platform tasked with autonomously exploring river banks. The robot can fly up to 3m/s and sense upto 18m.

2012

2012_helicopter_sensor

Helicopter Sensor Head, Hardware, Perception

Wrote software drivers for a sensor suite that is mounted on a full-scale helicopter and is capable of actively tracking a landing site on a shipdeck. The sensor suite has 3 cameras, SICK LDMRS laser GPS INS and time server board. I also worked on the registration and particle filter pipeline.

2010 - 2011

2010_2011_fira

FIRA Mirosot (5) League Robotsoccer Team, Full Stack

Led a team of undergraduates to compete as the first Indian Mirosot team in FIRA against 10 teams from around the world. Worked on all aspects of the project: robot hardware, vision pipeline, feedback control, motion planning and high level multi-agent strategies.

2009 - 2010

2009_2010_robocup

RoboCup SSL Robotsoccer Team, Full Stack

Member of a team of undergraduates to compete in the Indian leg of Robocup SSL. Designed hardware and control for an omni-directional robot, vision pipeline and motion planning.