• Leading the Development of the Autonomy and Control stack of the company’s wall finishing robot.• Developed a Coverage Path Planning algorithm, enabling the robot to do finishing tasks on a room’s ceiling.• Developed a Geometric Path Tracking algorithm, enabling the robot to autonomously navigate a reference trajectory within a room and complete finishing tasks on the walls.• Developed a Drift Correction and a Parking algorithm that resulted in an improvement in robot’s degree of autonomy and decrease of dependence on a construction worker to tele-operate the robot.• Developed the Odometry calculation logic that resulted in millimeter level accuracy of Robot’s localization.• Developed an algorithm to detect presence of doors and windows using data from a 2D LiDAR and an array of single point distance sensors.• Developed a Control Logic that enabled a seamless switching of operational control between the robot’s manipulator and the mobile base.• Contributed as a Co - Inventor to the company’s India wide patent for the Modular Wall Finishing Mobile Robot (Patent No. 465714)

•As part of my Master’s thesis research, worked on Reinforcement Learning based Motion Planners that mapped LiDAR scans to velocity commands and executed collision free trajectories for a Differential Drive robot in a static environment. • Worked with Variational Auto Encoders to learn a Latent Space representation of local map data recorded by a robot’s on board sensors, that could help with motion planning of the said robot in it’s local environment.• Wrote a ROS package in C++ that would subscribe to pedestrian detections in a simulation and using constant velocity assumption, predict their trajectories over a time horizon. • Assisted with real world tests of the lab’s Model Predict Control (MPC) based Motion Planner for a skid steer robot.• Worked on a comparative study of different simulation candidates in order to simulate dynamic obstacles required for the performance study of the lab’s various candidate motion planners.

I was appointed in the manufacturing department of the switchboard factory at Siemens, Kalwa works. I was involved in the testing of the switchboard panels. I conducted various tests like Build of Material (BOM), Electrical and mechanical operations test, Primary current injection test , potential transformer (PT) test, High Voltage (HV) test, mV drop test and meggar test in order to check if the manufactured panels were acceptable for the filed operations before their dispatch.