Projects

Autonomous Vehicle Development for Mahindra Rise Challenge

In collaboration with Mathworks and Intel Corp. , the project involved the development of electric autonomous vehicles up to L3 autonomy. During my work in the project I was involved the development of drive-by-wire, static and dynamic obstacle avoidance capabilities using multimodal sensor suit and developing a receding horizon controller for varying gradient surface for accurate velocity tracking.

Real-time Semantic mapping and prediction

The project involves creation of a perception pipeline capable of performing real time detection of objects, creating a semantic occupancy map and performing predictions based on the map. Link

Object detection deep learning models

Implementatin of Yolo and MaskRcnn in pytorch. Link

Planning and control frameworks for autonomous vehicles and drones

Several projects which include the implementation of various planning and control Algorithms used in autonomous vehicles and quadrotors.

Minimum Snap trajectory with geometric controller for drone

Pure Pursuit tracking of way points

Model Predictive Control based hybrid controllers for highway driving scenarios

rrt-star mapping algorithm

F1/tenth autonomous vehicle development

The project involves devloping 1/10th scale autonomous vehicles with the complete AV stack. Includes perception, planning and control tightly bonded together. Link

Flapping flight analysis of birds

Part of senior design project. Involved the analysis of the wings of birds during the various phases of flapping flight to analyze the regions of high vibration using rolling shutter effect of camers. Link

Single-seater all terrain vehicle design for SAE Baja competitions

A national racing event of all terrain vehicles for designing and demonstrating capabilities of all terrain vehicles. This project is a odd one out in the list projects here solely because I have always found this very cool and still gives me a rush.