Decision making, motion planning, and control for automated driving

• Developed a novel model formulation and trajectory planning algorithm for system identification of space robots• Obtained state-of-the-art results by estimating maximum information about robot’s inertial parameters• 50-60% computationally efficient than the existing algorithms and scalable with increasing degrees-of-freedom• Publication in the Journal of Guidance, Control, and Dynamics, a premier journal in aerospace engineering

• Identified the limitations of the existing system identification techniques for space robots• Developed maximum-likelihood estimation technique for space robot's inertial parameter identification• Performed extensive experiments with the first space robot testbed in India

• Led a multidisciplinary team of 20 students in developing robots capable of performing the tasks for Robocon 2014• Led the team in conducting a robotics workshop for over 250 undergraduate students of BITS Pilani on the development of ‘Obstacle Avoider Robot’ to raise funds for developing robots for Robocon 2014• Initiated the practice of conducting an annual robotics workshop for the students of BITS Pilani, which is still in practice• Background:ABU ROBOCON is an Asia-Pacific Robotics Competition held each year for undergraduates. The challenge is to perform a set of pre-defined tasks, different every year, within a time frame using multiple autonomous and manual robots.