Involved in the development of the DARPA’s Offensive Swarm Enabled Tactics (OFFSET) project (sprint 1) which utilizes more than 100 small Unmanned Aircraft Systems (UASs) to accomplish diverse missions in a complex urban environment.Explored two global planners which can optimize the area coverage in any complex urban environments by augmenting necessary features, aiding them to traverse 3-Dimensionally which provides them the ability to cover many occluded areas generated by the densely constructed building.Researched and developed a compatible obstacle avoidance method for one of the global planners which was lacking previously.These Global Planners were developed in C++ as Robot Operating System (ROS) packages and maintained using GIT as version control with Doxygen style documentation.

Designed and developed an acoustic sensor using Acoustic Metamaterials which amplifies wave pressure, makes detection of low wavelength waves possible.Variation of designs were prepared using Computer Aided Drawing (CAD) software SOLIDWORKS; Configure and operate 3D printer for prototype testing; Performed various levels of testing on the sensor designs to validate the expected behavior.Used LAUNCHXL-F28379D prototyping board for the sensor system integration with the functional mobile robot after evaluating other variants, as its has higher clock frequency which can able to generate sonic frequency ranging from 25 MHz to 40 MHz.Programmed this board to generate the ultrasonic frequency through speaker and receive same through mic. Integrated it with the functional four wheel mobile robot augmenting obstacle avoidance feature using this acoustic sensor.