Cartrack provides a Fleet Management Software, which allows for positional tracking and management of vehicles. Cartrack terminals are embedded devices laced with IMU, GPS and a bunch of other sensors, these are installed on the vehicle being tracked.My job as an Embedded Robotics Engineer is to develop algorithms for 1. Extrinsic calibration of the IMU.2. Estimating the vehicle state i.e. position, orientation and velocity of the vehicle by combining IMU and GPS (This was done using an Invariant Extended Kalman Filter) 3. Improving the current accident detection algorithm.

Development, testing and deployment of Computer Visionbased precision landing algorithms for QuadCopters.Development of Sensor Fusion algorithms for obstacle detection andAutonomous navigation of UAVs

• Vehicle Autonomy : Augmenting Visual Inertial SLAM to operate witha system of cameras, Sensor-Fusion (Radar,Cameras) for trackingOn-Road vehicles.• In-door AGV : Building the Navigation stack for our In-door robot(SIMBA).• Vehicle connectivity : Consulted and worked with other teams tojump start cloud-technology adoption and supervised thedevelopment of complete software-pipeline for cloud-connectivity.

• Improved 6DOF Kinematic Model of the Autonomous Vehicle.• Visual Inertial SLAM, Sensor-Fusion of IMU,GPS and multiple othersources of Odometry for localization of the Vehicle, techniques tohandle visual track loss, recovery and re-localization.• 3D-Reconstruction and generation of Vector Maps(HD Maps)

I worked on building a complete Non-Linear dynamical model of a Car with full Longitudinal and Lateral dynamics using force equations derived from Dugoff Tire Model to develop algorithms for Torque Vectoring and Electronic Stability Control.

Developed a 4DOF Aero-Elastic Model of a half wing using Raileigh-Ritz assumed mode approach with Unsteady-Aerodynamic equations to study how number, size and placement of control-surfaces on the wing affect the intensity of Gust-Load Alleviation possible for an upward Gust defined using Von-Karman and Cosine Pulse.Developed fully parametrized Mathematical Models of Li-Ion Cell after conducting HPPC experimental tests on those Cells, SOC estimation algorithms using Extended Kalman Filter and a complete BMS architecture for HALE (High Altitude Long Endurance UAV).

Team leader and Control/Dynamics lead of the college team , we took part in the University Can-Sat Challenge 2016 and secured 2nd position all over India.I worked on developing Control algorithms for gimbal for Camera Stabilization, Mid-flight lander separation. and acted as a link between Communication and Ground Software team.UCC 2015-16 dealt with designing , building and launching of a model Satellite system. During the course of this 2-day Space mission ,various teams from all over India got together in Bangalore and competed to build, launch and simulate a 'Can' sized satellite system(CanSat).

Team Leader of the of the team representing our University at the Electromania Embedded Design Competition in which we designed a 2D Space-Invaders game on a 16x16 Led Matrix.My responsibilities included Circuit design and game development. We were the 2nd runners up in the competition.