🚗 Software Engineer at Waymo — making self-driving cars move like they mean it.
🎓 Ph.D. in Mechanical Engineering from UC Berkeley, where I spent years convincing drones to carry things without dropping them. Before that, an M.S. from Carnegie Mellon University and a B.Tech from IIT Madras.
🎯 My sweet spot is nonlinear control, state estimation, geometric methods, and multi-agent robotics — rooted in classical control theory and lately dabbling with AI/ML 🤖.
| Project | Description | Language | Status |
|---|---|---|---|
| quad_geometric_control | Geometric control implementation on quadrotors | MATLAB | Stable |
| differential_flatness | Differential flatness for quadrotor systems and suspended loads | MATLAB | Stable |
| nonlinear_controls | Lyapunov-based controls, MPC, geometric control library | C++ | Inactive |
| udaan | Flying and floating models — quadrotors, suspended payloads | Python | Active |
| kite_ros | Cable-suspended hybrid aerial in-flight grasping and transportation | C++ | Inactive |
| pygeomech | Symbolic computation of dynamics on smooth manifolds | Python | Active |
| quadrotor-flexible-cables-payload | Quadrotor(s) with payload suspended through flexible cable(s) | HTML | Inactive |
| Project | Description | Status |
|---|---|---|
| qrotor_gazebo | Gazebo plugin for quadrotor simulation | Stable |
| spherical_joint_plugin | Spherical joint plugin for URDF in Gazebo/ROS | Archived |
| min-snap-trajectory-planning | Minimum snap trajectory generation | Archived |
| utils | MATLAB/Python/Bash utilities — rosbag readers, plotting tools | Stable |
🌐 Website · 📚 Google Scholar · 💼 LinkedIn
🤖 This README was edited by Claude, under my careful guidance.