Undergrad Projects

Swarath - Self driving Car Internship project at IIIT Delhi during Summer 2017, where I worked on building a SDV prototype. It started with designing controller and planner for the vehicle. Later built perception systems where sensor outputs were used to obtain occupancies. Further, integrated the planner and perception modules together. The internship ended with demonstrating autonomous navigation with GPS waypoints as input. Video

Building Perception, Planning and Control for Autonomous Vehicles Bachelor thesis at IIIT Hyderabad, started with designing a low-level controller for a stock car from scratch. Built controllers for throttle, steering and brakes without CAN support. Further integrated perception (ORB-SLAM, LOAM) and planning (RRT*) modules. Demonstrated static obstacle avoidance in tight spaces which was showcased at Research and Development showcase held at IIIT. A part of my thesis culminated into a paper published at AIR 19. Report Video

Background Subtraction Project work on Background Subtraction with Dr. Manigandan during bachelors. Designed a background subtraction algorithm based on mixture models. Paper

Bothoven - Eyantra Robotics Competition A multi-robot task execution problem, where two robots simultaneously plan paths, coordinate and execute a task of playing an audio file in a concurrent fashion. First FFT is applied to decode the notes from an audio file and is fed as input to the robots. The robots are aware of the map but are unaware of the obstacles present on the map. The map is updated and replanning is done when any one of them encounters an obstacle. Video

Husky - Visual perception based Autonomous bot Implemented obstacle avoidance and waypoint following in outdoor and indoor scenarios. Sensors like stereo camera, GPS, IMU and wheel encoders were used. Occupancy map was generated upon which planning was done using RRT for the bot to reach the goal autonmously. Video

Other Projects

• AutoNimbus - Connecting Vehicle to the Cloud
  National Finalist at General Electric Edison Challenge 2016
• Vision based robot localization
  Winner at computer vision based robotics competition for the consecutive years 2016,2017.
• Sudoku Solver for a Real Time Image
  A computer vision application that provides a solution when an image of the Sudoku is shown as input.
• Game Controller App using Kivy Python
  A game controller app with accelerometer support and customizable keybindings for controlling agents in games.