Mukesh Patel School Of Technology Management & Engineering, NMIMS University, Mumbai Bachelor's in Mechatronics Engineering ( Minor: Robotics & IoT ) — 2018 - 2022
Relevant Coursework:
Digital Signal & Image Processing, Dynamic Systems Modeling and Analysis, Microprocessors and Microcontrollers, Robotics System Design, Design of Machine Elements
Sim-2-Real Autonomous Quadrotor Navigation in the Wild
- Developed a Generative, Procedural environment for quadrotor simulation and learning using Blender software.
- Employed RRT* algorithm and Minimum Snap Trajectory generation to navigate a dense, simulated forest.
- Designed a Model Predictive Control for precise trajectory tracking and traversal of optimal trajectories.
Voxel-based Autonomous Driving and Point Cloud Segmentation
- Developed the perception stack for autonomous vehicles with camera images, LiDAR point clouds and Voxel Grids.
- Estimated absolute and relative depth using both Stereo Photogrammetry and Intel’s MiDaS depth model.
- Used YOLOv8 for Object Detection and Instance Segmentation for road vehicles, traffic signs, and pedestrians.
- Detected lanes on custom dataset with a 97.8 % accuracy using Cross Layer Refinement Network (CLRNet).
Back-EMF-based Sensorless Control of BLDC Motor Using MATLAB/Simulink
- Conducted comprehensive research, exploring and analyzing multiple non-linear methods for BLDC motor speed control.
- Constructed a closed-loop model for sensorless control of BLDC motors using Back-EMF and zero-crossing detection.
- Headed a team of 15 people to develop four mobile robots: Arrow-Shooting robot and Ball-Throwing robot.
- Fabricated a custom swerve drive mechanism for the robots which provided 30 % increase in the speed of the robots.
- Secured India National Finalist positions in ABU Robocon 2020 and 2021, with a flawless score in the Design Phase.
Implemented an algorithm to automate the estimation of camera intrinsics using a mathematical model proposed by Zhengyou Zhang.
Gaussian Splatting
Evaluated performance of state-of-the-art Gaussian Splatting method for real-time radiance field rendering on custom dataset featuring WPI's mascot 'Gompei'.
This project implements a Structure from Motion pipeline for obtaining camera poses from monocular images of a given scene and reconstructing the 3D scene by leveraging Epipolar geometry.
Visual Inertial Odometry (VIO)
Implemented advanced Multi-State Constraint Kalman Filter (MSCKF) following a paper for robust sensor fusion.
The Perception Saga: Sim-2-Real Quadrotor Perception Stack Project Page
- Engineered a perception stack using synthetic data and YOLOv8 for detecting and segmenting windows.
- Deployed the model on a DJI TelloEDU drone to autonomously navigate a complex environment in real-time.
- Implemented RRT path planner and cubic spline trajectory generator for quadrotor in 3D using Blender.
- Designed and tuned a PX4 based cascaded PID control for collision-free quadrotor navigation.
- Validated a robust collision detection system for real-time quadrotor planning.
Robust Quadrotor Trajectory Tracking Using Sliding Mode Control Project Page
Design of a sliding mode controller for altitude and attitude control of the Crazyflie 2.0 to enable the quadrotor to track desired trajectories and visit a set of desired waypoints.
Waypoint Navigation and AprilTag Landing Project Page
Developed a dynamic 3D waypoint navigation algorithm and integrated AprilTag scanning for landing maneuvers.
Engineered a Cascaded PID controller based on the PX4 stack to ensure precise trajectory tracking.
Localization and Navigation
Vision-Based Localisation using Non-linear Kalman Filters Project Page
Performed robust quadrotor pose estimation in 3D space by using Quadrotor Dynamics and Extended Kalman Filter
Developed a vision-based observation model to get pose-estimates from AprilTags and improve prediction accuracy.