I'm a second year PhD student at the Massachusetts Institute of Technology, USA.
My research seeks to address the challenge of balancing efficiency and fairness in multi-agent teams using reinforcement learning.
I am a recipient of the MathWorks Fellowship for the academic year 2023-2024. My past research endeavors include work in imitation learning for social navigation, control barrier functions, and coverage path planning; recent projects include the development of a safe and socially aware motion planning method using imitation learning for general aviation aircraft in multi-aircraft shared airspace and the design and testing of an improvised box-wing micro air vehicle.
Robotics has always captivated me. Autonomous systems are at the forefront, but appropriate optimization and intelligent consideration of the tradeoffs involved can help these approaches reach their full potential. I aim to use a design-based approach backed by strong fundamentals to help create a breakthrough in my field.
Get to know about my skills below!
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From my freshman year at college, I began dabbling in the various fields of robotics beginning with embedded systems and controls, to computer vision and deep learning
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I'm fascinated by all things aerospace and am particularly interested in
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Robotics is something I am passionate about. I am confident and have applied these technologies for robots and aircraft systems
This section showcases some of the latest work I have created with links to the projects and a brief description.
Graduate research at MIT: Working on developing fair and efficient resource distribution in multi-agent reinforcement learning.
Multi-agent system MARL
Developing safe and socially aware motion planning method using imitation learning
for general aviation (GA) aircraft in multi-aircraft shared airspace. Incorporating safety through formal logic methods.
Robotics Institute Summer Scholar RISS Program, AirLab, Carnegie Mellon University
Social Navigation STL Multi Agent SystemPaper Video
Developed and simulated a pair of UAVs to track a moving target. Implemented Barrier Lyapunov Functions to maintain the desired formation. Internship at the GCDS Lab, IISc.
ROS Gazebo Obstacle Avoidance Barrier FunctionsPaper Video
Data driven approach to learn inverse dynamics of a robotic manipulator arm. Developed a setup on ROS to learn model dynamics when model information is not provided.
Worked remotely at McGill University as a part of MITACS Globalink Research Internship.
Deep Learning Manipulation Inverse Dynamics
Coverage path planning for agricultural field. Optimal trajectory, safe and robust control using Control Barrier Functions. Bachelor's Thesis Project
Deep Learning Agri Drone Path Planning
Analysed the omnidirectional controllability, studied nonlinear control theory, and dynamics of existing system for fault-tolerant control.
Transitioned project software stack ROS1 to ROS2 and optimized the code.
Worked remotely with TU Dresden as a part of DAAD WISE Scholarship 2020.
Nonlinear Controllability ROS2
Among top 25 teams in the world that qualified for SSL RoboCup 2019, a robot soccer competition. Worked on motor control and embedded systems. Results to be published soon.
RoboCup KRSSG EmbeddedTeam's GitHub
IIT Kharagpur's tech fest Kshitij 2019 Image processing Robot based on Raspberry Pi.
Tech Fest Image Processing RPiGitHub
Developed and tested an optimized Fuzzy control code for motor velocities. Applied on the RoboSoccer 2020 robots. Showed robustness even when disturbances were applied.
Fuzzy Velocity ControlGitHub
Using a Homotopy method, determine the maximum range for a guided projectile based on optimal controls.
Trajectory control Homotopy OptimizeGitHub
Won 3rd Place NACDeC-2: Designed a solar powered and fuel cell combination twin propeller high aspect ratio wing aircraft. Competition by the Aeronautical Society of India (AeSI). Led the Department Team for NACDeC-4.
Aircraft Design Conceptual Design
Automated tool that performed multiple image stitching followed by blending. Semester Project, Image Processing, Autumn 2018.
Led the IITKGP Aerospace Team for MathWorks Napoli Minidrone Competition 2021, to develop algorithm for a line follwing drone on Simulink. Event cancelled after submission round.
Coming soon! Robotics and AI
UAV club team to participate in the Association for Unmanned Vehicle Systems International (AUVSI) Student Unmanned Aerial Systems (SUAS) Competition 2021. Event delayed due to COVID-19
UAV Team Head