Research Experience

My undergrad is on Aerospace Engineering from IIT Kanpur. All my research was on building and developing aerial robots.

Undergraduate Student Researcher under Intelligent Guidance & Control Laboratory (Prof. Mangal Kothari)

• Working in Intelligent Guidance and Control Laboratory from march 2019 to present

• Created attitude and position estimator using procedures such as Least-Square, EKF, Particle filter with range-based sensor for indoor localization.

• Investigated the observability of current relative localization methods for UAVs in GPS denied environment.

• Developed optimal sensor placement and optimal control law strategies for the quadcopter to increase indoor localization accuracy.

Research Intern at Mitsubishi Heavy Industries

• Worked with Dr.Abhishek, Mangal Kothari and Masaki honda between Mrach 2020 and December 2020 to develop quadcopter localization system.

• Designed a novel fail-safe system for drone Positioning and Posture estimation without a GPS module.

• Developed the localization scheme using Ultra-Wide Band sensors and GPS for multirotor systems.

• Created platform for optimal beacon placement in industrial environment for robot navigation.

• Automated the inspection process of steel structures like the crane and turbine using the quadcopter system.

Technical member at Aerial Robotics IITK

• Designed and developed various Quadcopter models with different sensors and dynamics.

• Developed a robust vision-based drone landing system on the color box, with a precise object tracking technique.

• Created Aruco Marker-based localization in an indoor environment for quadcopters.

• Improved sensor fusion techniques with (AHRS) inertial sensors and optical flow integration.

• Explored current state of the art Visual Inertial Odometry methods such as VINS, ROVIO for the drone.

• Experimented aself-designed PID controller and an available Model Predictive controller on real drones.