Sunnyvale, California, United States
I graduated from School of Computer Science, Carnegie Mellon University with a Masters of Science in Robotics in May 2019. I worked at Biorobotics Laboratory under the guidance of Prof. Howie Choset and Dr. Matthew Travers. My thesis and research work focused on decision making under uncertainty, state estimation, motion planning and motion control. Applications included indoor robot navigation, stable motion for legged robots, information gathering in subterranean environment using heterogeneous robots and many more. Website: https://sites.google.com/view/namanoid/
See & Spray Technology
Ottava Surgical Robot
Indoor autonomous mobile robots
The problem of navigation in a partially observable environment is common to all types of robots. In order to work out a solution, one needs to do online state estimation, plan and control the robot. This involves a mix of localization, motion and path planning and a model predictive control framework. I worked on all of such concepts during my Masters for a point robot and a legged robot. Since online belief space planning (another term for simultaneous localization and planning) is still an unsolved problem in legged robots due to large dimensionality, I tried to reduce that by using information only from IMU and forward kinematics to do state estimation.
My role was to perform Visual SLAM (SFM) using stereoscopic cameras attached to the drone. I used the ORB SLAM technique to do the same. I was also instrumental in tasks like object recognition and detection.