Projects

Detected and tracked objects in 3D space from the benchmark KITTI dataset based on camera and lidar measurements and computed time-to-collsion on both camera and lidar sensors by projecting 3d lidar points on to camera sensor.

Used MoveIt motion planning and ROS Services to pick and place bin parts using UR5 robot and submitted orders using AGVs.

Designed and simulated a robotic snake achieving snake like motion.

Tsai’s Method for Camera Calibration using QR decomposition to get camera intrinsics

Executed pick-and-place operations for grocery items utilizing a mobile robot featuring a UR5 arm in ROS2 Gazebo and employed inverse kinematics to ensure precision in robotic manipulation.Used Peter Corke’s Toolbox in MATLAB to validate forward and inverse kinemtics of the UR5 arm. Introduced proportional control for robot’s mobile base movement.

Used Agile Software Development process to detect and track humans in a frame using HOG feature descriptor and SVM in C++ (14+)

Improved image reconstruction using positional encoding to achieve 29 PSNR with basic FFN over basic model.

A streamlined code generation agent built with LangGraph and Groq. This LangGraph agent is a synchronous graph. The agent analyzes user requests, generates Python code, performs quality assurance checks, and automatically saves the results to a file and traces all workflow steps to the Judgeval dashboard for monitoring and evaluation.

Optimal Control Approach i.e LQR controller to solve the Robust Control problem of Robot Manipulator.

Implemented Proximal Policy Optimization (PPO) and Deep Q-Networks (DQN) reinforcement learning algorithms to optimize Kuka robot pick-and-place tasks in PyBullet using OpenAI Gym.