Research and Projects
High Precision 3D Reconstruction My current research focuses on high precision 3D reconstruction. There are several methods available for 3D reconstruction. I am particularly working with Photometric Stereo. The emphasis is to be able to handle different types of surfaces inlcuding highly reflective surfaces.
Multi Robot Mapping Another project that I have been working towards is the multi-robot mapping. Mapping large environment can be painstaking and time consuming process. In our project we are working towards developing a multirobot setup for the purpose of mapping and planning tasks with a team of robots.
- Path Planning Planning and controls are at the heart of autonomous systems. The problems in this field can vary a lot and the biggest task being able to handle the steep climb in the complexity, both in terms of implementation and conceptualization. The outcome is equally satistfying. I have had the opportunity to work with planning algorithms at both the levels. In brief I have worked with 3 major types of planning algorithms:
- Vector Field (Attraction based)
- Graph Search (A-star, Dijsktra, RRT, RRT-star)
- Optimal Path (Planning in continous state space)
NN Based System Identification System Identification has been studied in great depth in the field of controls theory. In this project my aim to discover the ability of a neural netwrok to learn the dynamics of a Unamanned Underwater Vehicle. The dynamics of a UUV can very complicated. For the purpose of the study, the NN was trained with simple predictable trajectories which was tested against the PRBS excited model.
- Mechatronics Here a few videos showing the mechatronic projects I have worked on in the past.