Animesh Singhal Email & Phone Number

Santa Clara, California, United States

India

Navigation Stack for Autonomous Mobile Robots (AMRs) used in Warehouses | Skills: ROS1, ROS2, Python, C++, Linux, Git, Docker(1) Crowd Simulation:- Developed Gazebo plugin to dynamically control simulated humans through velocity/path commands sent via ROS topics- Created a Gazebo-based test-bed for AMR navigation amidst a realistic human crowd simulated using the Social Force Model(2) Global Planning:- Generated motion primitives to create kinematically feasible paths for free/cart-joint bots for graph search methods- Evaluated and benchmarked lattice-based planners, namely SMAC & SBPL, to generate geometrically predictable paths- Optimized cost multipliers for different motion primitives to create a similar path for a given start and goal points- Saved an average computational time by 70% by advocating the usage of SMAC over SBPL in the existing navigation stack(3) Local Planning:- Built ROS/ROS2 test-beds in Gazebo to evaluate different local planners for AMRs across various speeds and confined spaces- Simulated precise localization with Gazebo’s data using TF broadcaster; ended global plan replanning with behavior trees(4) SLAM:- Integrated Webots simulator and ROS2 to test the SLAM-toolbox on AMRs; reported a flaw in LiDAR's measurement update.

Embedded Control Lab, Systems And Control Engineering Department

I worked on developing a model-based controller for a pendulum-actuated spherical robot that allows the robot to move without wobbling along simple trajectories such as a circle or a straight line. Here are some of my key contributions:1) System Modeling: I modeled the wobbly behavior of the ball-shaped robot to obtain a Lagrangian considering forward and steering motion coupling. I also obtained the bot's nonlinear control-affine system via Lagrange D'Alembert equations, adhering to non-holonomic constraints.2) Controller Design: I designed a non-linear controller based on input-output feedback linearization to control the underactuated bot with two inputs. My design eliminated lateral oscillations (wobbling) during a turning maneuver while maintaining stable pendulum motion.My work has been accepted for publication in the 22nd IFAC International Symposium on Automatic Control in Aerospace and I submitted another publication to Robotica, a Cambridge University Press journal. I also filed three utility patents and two design patents to secure the bot's design, vision system, and scalability method.As a result of my research, I received the award for Best Presentation at the ACA conference in 2022.

Mumbai, Maharashtra, India

I played a key role in two critical initiatives:1) Policy making: Worked with government bureaucrats towards Indian Robotics Policy making. Benchmarking India's robotics capabilities with 10+ nations, I suggested 5-year targets and means to attain them.2) Cost reduction: Formulated FY22 savings targets across 14 business units to achieve 5% organisation level C&B% reduction target. Conducted a pilot for managers to plan savings across 12+ levers, developed a macro to compile 80+ worksheets. Instituted saving planning portal with planner-approver model for 500+ managers; drafted BRD & user stories.My experience at EY equipped me with valuable skills, such as structured problem-solving thinking, data analysis, and project management, that I have since applied to my work as a Robotics Engineer.

Mumbai Area, India

Interned under the Data Analytics practice in PwC's advisory division. 1) Devised an alternate revenue source for banking clients by designing new data privacy laws compliant dashboard2) Co-authored a white paper; formulated 7 stages of data lifecycle mgmt. solutions to promote PwC’s capabilities3) Designed a methodology for the risk assessment of 15 assets of savings banks for securing 40 data attributes4) Proposed a 5 layered security strategy encompassing 40 solutions to safeguard the assets from cyber attacks5) Scrutinized 5 dimensions to improve data quality of a client’s master database by facilitating data profilingWas awarded a Pre-Placement Offer for exemplary performance and contribution to various projects for the data governance team.

Indian Institute Of Technology, Bombay Mumbai, Maharashtra, India

Led a 2-tier team of 200+ members to curate 100+ events and host 60+ International artists IMPACT:• Economized events by INR 6.5M via cost-sharing models & breakthrough strategic alliances with organizations- Negotiated with 300+ artists over 8 genres to achieve INR 3.5M savings (78% reduction) in performance fees- Raised INR 3M via cultural grants & managing interests of embassies of over 35 countries; hosted 15+ actsKEY INITIATIVES:• Envisioned ideology shift to experience-based events catering to a wider audience & enhancing the take-back value- Pioneered ‘MI’s Got Talent’ attracting 180+ unconventional acts at crowd hotspots to enhance street vibes- Instituted ‘Talent Fiesta’ featuring 25+ professional artist groups to showcase niche & indigenous art-forms- Augmented global presence via ‘Global Village’, a festive arena ft. cultural exhibits & buskers from 20+ nationsREFORMS:• Revamped ‘HumorFest’ to include trendsetting sub-genres viz. topical, sketch, roast, magic; hosted 9+ big shots• Rejuvenated Open Air Theater (in-venue engagement: 1k+) by ensuring continuous event flow and act diversity

Powai, Mumbai, India

• Invited 20 artists from 10 countries to exhibit international performances at Mood Indigo• Leaded a team of 15+ organizers to execute events in various genres• Ideated and structured the International Music Festival, the flagship event of Mood Indigo• Negotiated with renowned Indian artists to showcase 5+ events in the International Music Festival

• Conceptualized the flagship event, Surbahaar, constituting 60+ musicians witnessing a footfall of 2000 people• Planned and executed 15+ events throughout the year, aiming to cater to over 1000 students• Nurtured 100+ talented students by mentoring 6 bands and conducting informal events like Unplugged NightIn addition to this, served as the " Institute Cultural Mentor | Music " • Served as the first point of contact for 900+ freshmen in 14 Institute cultural genres and clubs• Executed Fresher’s DJ night, Cultathon and Informal night, witnessing a participation of 500+ students• Organized Freshiezza, a series of events providing a professional platform to budding freshmen

Master'S Degree, Mechanical Engineering

Bachelor'S Degree, Mechanical Engineering

90.92%

96.60%