Selected Projects
In this page, I have described my completed major projects. Most of my college days, I have been worked on these projects
Robotics Engineer at Joulea LLC (May 2023- Jan2024)
Implemented a SLAM system using Lidar Inertial Odometry, and Point-cloud data, improving autonomous robot navigation via collision-avoidant paths in dynamic environments.
Optimized flight control of DJI drones by leveraging the SDK to design a custom velocity controller, enhancing the drone’s responsiveness and precision in navigation
Conducted scans and generated 3D models of Atlanta’s largest buildings using drone systems, contributing significantly to the city’s building inspection.
Indoor localization of multi-rotors
Bachelors thesis-1 at IIT Kanpur 2019
Implemented a range based SLAM using the wireless beacons for quadcopter localization in an indoor environment.
Automated the noise tuning part in the Gaussian filter using the Particle Swarm Optimization method.
Proposed anovel way of estimating the drone’s orientationand position in an indoor environment without the use of magnetometer and external sensors.
[Report][Code]
Reinforcement learning Capstone
Completed the Coursera online specialization on Reinforcement learning.
Learned to formalize the control task as a RL problem and to implement the solution.
Performed the neural network function approximation to train the agent on the simulated problem.
Implemented the q-learning, actor-critic algorithms to maintain the position on cart-pole, moon lander, and simulated quadcopter.
[Report][Code]
Swarm Robotics for ground bots
Summer Project at Electronics Club IIT Kanpur 2019
Designed a five small ground bots with interconnected WiFi communication
Localized the bots based on aruco markers and infrared sensors
Developed the controller for the robot based on concept Differential Drive
Implemented Centralized Multiagent path planning algorithm (Conflict Based Search) on the bots for desired shape formation.
[Report][Code]
Desktopography
Summer Project at Electronics Club IIT Kanpur 2018
Developed acomputer interfaceby using the depth-camera and projector.
Implemented gesture recognition of the hand by depth images and transformed those actions to move the computer pointer.
Explored Sift, surf, orbimage feature algorithms for finger segmentation and tracking using the OpenCV library.
[Report][Code]
Course Projects
In this part, I have described my academic projects done for the course work at IIT Kanpur.
Optimal Control of Electric-sail spacecraft
Course Project for Automatic Control of Aircraft Rockets and Spacecraft (AE649A)
Derived dynamics of the spacecraft with its novel propulsive system.
Implemented the linearized attitude and orbital control of the spacecraft.
Investigated the optimal control techniques to develop minimum time trajectories.
[Report][Code]
Observability based Sensor Placement
Course Project for Autonomous Navigation (AE640A)
Formulated the network constraint on beacon based localization based on non-linear observability analysis.
Presented a solution for sensor placement on the industrial structure using PSO method.
Investigated the optimal control problem around beacon to improve the estimation accuracy.
[Report][Code]
Aircraft Design and Analysis
This is the course project of (AE 361 and AE 461) Aircraft design at IIT Kanpur. Course has covered both design and fabrication of fixed wing aircraft model.
Analyzed the aerodynamics, performance, and stability of different aircraft models.
Designed a full light-weight aircraft model based on the system requirements.
Constructed a prototype model of twin-boom pusher aircraft and added autopilot for loitering operations.
[Report][Code]
Linear Programming
This is the course project of (ME:752) Optimization at IIT Kanpur. Course has covered both uncontrained and constrained optimization problems.
In the project, I have decided to work on the Contrained Optimization problem, particularly Linear Programming.
The Linear Programming problem can be solved by using different methods. In this project, I have studied two of the main methods used widely.
I have compared the Simplex and Interior Point methods in term of efficiency and complexity.
I have illustrated the two methods on different mathematical functions to compare their working principle.
[Report][Code]
Manufacturing Process
Course Project for Technical Arts (TA201A and TA202A)
Designed a AutoCAD models on Twin tower and Multipurpose delivery system.
Fabricated the real model using the mechanical manufacturing process like Milling, Drilling, Welding, Casting and Molding
[Report][Code]
My undergraduate intern story