My work focused on developing learned heuristics for informed sampling of sampling-based kinematic planners, for deploying in cluttered environments.[blog]
Computer Vision Intern | Preimage
September '21 - December '21
Co-organised by IIT Kharagpur and DRDO, India, as part of the Inter
IIT Tech Meet 10.0, this challenge aimed to develop a UAV-guided navigation system which could guide
cars on snowy terrains.
Our team won first place, and also secured the Inter IIT Tech Meet 10.0 overall General Championship.
The task was to develop (in simulation) a mobile robot with a manipulator capable of multiple waypoint navigation
and exploration. As the winning solution, we created a probabilistic route planner, which finds near-optimal
solutions while respecting the computational capabilities of the robot and integrated this with an adaptive MPC.
Member of the IIT Kharagpur - IUPUI, Indiana - USB Colombia collaborative team.
Designed tightly/loosely coupled high-speed localisation in for racecar localisation in pre-mapped LiDAR circuit. The localisation was using 3 static-state LiDARs. [code]
Developed a ROS-based sensor testing module as part of the Base Vehicle Software team. [code]
DRDO DGRE's Vision-based Obstacle Avoidance Drone
Co-organised by IIT Guwahati and DRDO, India, as part of the Inter
IIT Tech Meet 9.0, this challenge aimed to develop a purely-vision based UAV navigation and exploration system, and ArUco marker landing
for flood relief and delivery.
Our team won first place, owing to our modified gbplanner solution.
Team Lead of the Mars Rover Team of the Autonomous Ground Vehicle Research Group, IIT Kharagpur
Developed the wheel, chassis and suspension for rover prototype with 15 deg gradeability and max speed 20cm/s.
Designed a 5-DOF modular robotic manipulator with 2-finger grip for semi-autonomous on-board equipment repair.
A Comparative Study of Sampling-based Planners [GitHub]
A open-source Python package to demonstrated the difference in performance between sampling-based planning algorithms such as RRT, RRT* and Informed RRT*.