Neuro-Inspired Adaptive Perception and Control for Agile Mobility of Autonomous Vehicles in Uncertain and Harsh Environments - MURI

Aug 2011-Till date, Georgia Institue of Technology, Atlanta, GA

The goal of this project is build an autonomous rally car that can challenge humans in races. We are using a 1/5th scale RC car as our platform for this task. The project is a Multidisciplinary University Research Initiative (MURI) with MIT and USC. I am working on setting up the platform for the mobile robot. Also, I am working on a scene categorization and Pedestrian Detection system on the robot.

Project Webpage

Collaborative Autonomous Navigation in a Networked Environment (CANINE)

Dec 2011-Apr 2012, Mobile Intelligence Corp., Livonia, MI and Georgia Institue of Technology, Atlanta, GA

The CANINE competition is conducted by TARDEC. Six teams were selected for participation in this competition. The objective the CANINE competition is learn the appearance of an object and then identify and retrieve it from a field containing other distractor objects and dynamic obstacles. I am working on the vision system for this platform.

Android Development

Aug-Dec 2011, Georgia Institue of Technology, Atlanta, GA

Marauders Map: An app similar to Google Latitude that leverages the Georgia Tech Wireless Access Point location information to locate friends. The app provides specific location information such as building name, floor and room number to users and also helps in setting up meeting points by leveraging the Georgia Tech authentication service and Google Maps API.
Source Code

Buzzlist: An online marketplace and social networking app for the Georgia Tech community.

T-Square: An Android course management and student planner app for Georgia Tech students.

Bluetooth based Localization of a Mobile Robot

May-July 2010, Indian Institue of Technology, Madras, India

Advisor: Dr. Balaraman Ravindran
A mobile robot platform holding a laptop (MoBo) was built and localization was achieved using three bluetooth beacon signals. The objective was to localize the MoBo based on the received signal strength values (RSSI) from three fixed bluetooth base stations. A novel method of trilateration was used for the localization process. Optical mouse based odometry and particle filter algorithm was used on the MoBo to integrated the bluetooth signals and the mouse odometry values to predict its current location. It also employs reinforcement learning to adapt to noise in the environment.

Vision ARM

Aug-Dec 2010, National Institue of Technology, Tiruchirappalli, India

A 3 DOF arm capable of drawing an image loaded onto it. The system first generates a contour image from the required image and traces it using feedback control.

Robotics Competitions and Workshops

National Institue of Technology, Tiruchirappalli, India

  • Second place in Image Processing based maze solving robot competition.
  • Second place in Micromouse - Robot Maze solving competition.
  • First place in Line Follower Robot Competition.

Viola and Jones - Face Detection and Tracking

May-July 2009, Indian Institue of Technology, Madras, India

Advisor: Dr. Anurag Mittal
The objective of this project was to build a system that can efficiently detect and track humans in a given region from multiple camera feeds of the same area. The face detection on the video stream was performed using a combination of Voila and Jones face detection algorithm and a fuzzy classifier.

Constrained Stabilization of an Inverted Pendulum system

Aug-Dec 2009, National Institue of Technology, Tiruchirappalli, India

The project involved modeling and control of a Inverted Pendulum system. An angle measurement device, an gyroscope and a dsPIC microcontroller were used for sensing and control.