Nonlinear Model Predictive Control for Mobile Robots
NMPC algorithm for collision-free navigation of a mobile robot in unknown and dynamic environments 
Projects
Markov Decision Process
Policy Generation for Mobile Robot in obstacle environment using Policy Iteration , Generalised Policy Iteration , and Value Iteration in both Deterministic , and Stochastic Models. Here process is assumed to be Markov Decision Process , and the problem is solved using Dynamic Programming 
Face Swap
Swapping faces in the images using Thin Plate Spline and Triangulation Methods 
Feedback Control of Under-actuated Systems using Time-Varying LQR
Designed a control algorithm for under-actuated systems based on time dependant linear quadratic regulator 
Structure From Motion
Mapping 3D scene using camera motion , Linear PnP and Bundle Adjustment 
Stewart Platform for Surgical Training Kits and Passive Physiotherapy
The project demonstrates the fabrication practices and integration approach to assemble the platform and replicate internal involuntary body movements associated with breathing, heart movement, and peristalsis. 
Control of RR Bot Using LQR, Robust, Adaptive and Sliding-Mode Controllers
Design of various controllers for planar RR bot using MATLAB. Tested these algorithms using ROS and Gazebo 
MyAutoPano
Seamless Panorama stitching using ANMS and Deep Learning 
PID Simulator
Time series response of closed loop control systems with P,I,PI,PD and PID controls with unit step response. 
Motion Planning for Mobile Robots using Sampling based algorithms
Navigating Mobile robots using various sampling based algorithms such as Probabilistic Road Map,RRT and RRT* 
Alohomora
simplified version of Probability of Boundary (pb lite) detection algorithm, and CNN for Image classification 
D* and Informed RRT*
Motion planning for mobile robots using Informed RRT* and , Motion planning in dynamic environment using D* agorithm. 
VIO
Stereo visual inertial odometry using Multi- State Constraint Kalman Filter 
Android Based Remote Motion Controller Using Visual Feedback
Built a wall climbing robot to test the android based visual feedback controller. 
AutoCalib
Calibrating camera’s intrinsic and extrinsic parameters using Zhang’s calibration method 
Predicting Bearing Fault Type and Depth in Rotary Machines
Predictive Maintenance architecture for Rotary equipment in manufacturing operations using AI and DSP 
Semantic Segmentation
Iterative closest point implementation for mapping the LIDAR , and segmentation using neural networks 
RANSAC
Python Program to compute best fit line or plane using random sample consensus 