Some of the robotics projects I've completed.

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Multi Robots System

Multi Robot Task Allocation for Heterogeneous System

  

Developed methods for scheduling tasks in diverse, multi-robot systems where each robot possesses a unique set of skills.

Multi-Robot SLAM System for Indoor Locale

      

An end-to-end solution for decentralized map synchronization with occupancy grids for swarm robotic systems.

Humanoid Robotics

Whole Body Human Motion Imitation by Humanoid Robots

  

A method for teleoperating humanoid robots through the imitation of human operator body motions

Autonomous Valve Operation by Atlas Robot

The task of navigation to the detected valve, and manipulated it with motion planners using the generated circular trajectory..

Loco-manipulation of Baxter Robot

An autonomous navigation framework for robots with unreachable manipulation goal pose

Artificial Intelligence/Machine Learning

Implementation of 'Grasp Quality CNN' (GQ-CNN) Using Dex-Net 2.0

Implemented a deep learning approach for grasp planning that predicts the probability of grasp success using a CNN. The method achieved high accuracy for producing robust grasps for objects.

Implementation of 6-DOF GraspNet for Object Manipulation

Implemented a deep learning-based approach for generating a 6-DOF grasp configurations using a CNN. The method enabled robots to grasp diverse objects with robust grasps for object manipulation.

Bejeweled Bot with Reinforcement Learning

A bot that learns to make the optimal moves for the game Bejeweled.

Controls

Design and Validation of a Linear Controller for a Quadrotor

Designed a controller that can operate in restricted airspace. Completed objective to fly and capture an unknown aerial vehicle and then return to the base