I am a second-year Master of Applied Science student at UTIAS (University of Toronto). Currently, I work under the supervision of Professor Angela Schoellig, Dynamic Systems Lab, UofT Robotics Institute on safe multi-robot motion planning.
I completed my Bachelors in ECE at Sardar Vallabhbhai National Institute of Technology. I have worked as an undergraduate researcher under Prof. Arun Kumar Singh, IMS Robotics, University of Tartu on trajectory optimization and model predictive control. In the past, I did summer reseach internship under Prof. K Madhava Krishna, Robotics Research Center, IIIT Hyderabad. In my sophomore and junior year, I was an active member of my institute's technical club Drishti, participating in Asia-Pacific Robot Contest, building a 50lbs autonomous wheeled mobile robot from scratch.
[Google Scholar |Linkedin | Github]
Research Project: Developed a novel optimizer which exploits the computational structure of the non-linear trajectory optimization problem. Our optimizers builds an insight that the seemingly non-linear trajectory optimization has an implicit multi-convex structure. It outperforms the state-of-the-art implementation of SQP ACADO Toolkit in terms of computation time and solution quality.
Final Year Project: Developed a multi-robot navigation system by incorporating diverse concepts and algorithms such as distributed model predictive control, A* search algorithm, On-demand Collision Avoidane, and Leader-Follower formation scheme. The problem statement was divided into three parts: single-robot navigation, multi-robot navigation, multi-robot cooperation to transport a deformable object. We validated and tested algorithms in Gazebo environment.
Competition: Developed an autonomous navigation system for Omni-directional robots from its embedded system to motion planning and control.
Robot Chasing a Target