Research Projects
Autonomous Landing of a drone on a Moving Platform (Aug 2019 - present)
Research Project, IISc Bangalore - Supervised by Prof. Radhakant Padhi
Minimum Jerk based guidance for autonomous landing
Adaptive learning of unknown disturbance
Precise state estimation using Extended Kalman Filter
Hardware implementation on Quadrotor, VTOL Drones
Autonomous Aerial Vehicle with Titlting Rotors (AAVTR) (Sept 2019 - present)
Research Project, IISc Bangalore - Supervised by Prof. Radhakant Padhi
Tilt- rotor based VTOL Drone
CFD for designing and obtaining aerodynamic coefficients
Derivation of equation of motion
Inhouse fabrication and testing
Auto-encoder based discrete time non-linear system identification (Nov 2020 - Jan 2021)
Course Project, IISc Bangalore - Supervised by Prof. Shayan Garani
Non-linear discrete time system identification using partial predictive encoders
Validated on two-tank benchmark problem
Implemented to control a quadrotor without using its conventionally developed equations of motion
Non-Linear Model Predictive Controller(MPC) for a UAVs (Nov - Dec 2020)
Course Project, IISc Bangalore - Supervised by Dr. Radhakant Padhi
Non-linear MPC for trajectory tracking of a UAV
Comparision between Non-linear and Linear MPC technique
Simulation in ROS-Gazebo environment
Learning and Control for multi-UAV systems (Feb - Apr 2020)
Course Project, IISc Bangalore - Supervised by Prof. Shishir Kolathaya
Explorer-Follower UAVs for transporation in a maze
Dijkstra's algorithm, A*, Depth First Search, Reinforcement Learning to find path through a given unknown maze
Pure-Pursuit Guidance and Model Predictive Controller for trajectory tracking
Neural-Network based control law to replace the existing classical controller of the UAV
Simulation in ROS-Gazebo environment
UGV-UAV Cordination (Sept - Dec 2019)
Course Project, IISc Bangalore - Supervised by Dr. Raghu Krishnapuram
SLAM by the UGV in an unknown environment
Object detection algorithm for detecting an object by UAV
Vision base pose-estimating of an object to be manipulated
Manipulation of object with robot arm on UGV
Simulation in ROS-Gazebo
Motion Control of Underwater Robot with Tilting Thrusters (May - July 2018)
Summer Internship, IIT Indore - Supervised by Prof. Santakumar Mohan
Derivation of Dynamic model of underwater robot with four tilting thrusters based on hydrodynamic effects
Lyapunov stability criterion for derivation of control law
Simulation of control strategies such as Backstepping control, Sliding Mode control and Computed Torque Control in MATLAB
Hermite cubic curves for trajectory generation
Analysis of robustness and performance characteristics for set point and trajectory tracking
Presented in ICAARS 2018, PSG Tech., Coimbatore
Publication:
Kadiyam J., Sai Kumar P.S.V.S., Mohan S., Deshmukh D. (2021) A Robust Motion Control Scheme of an Underwater Robot with Tiltable Thrusters. Materials, Design, and Manufacturing for Sustainable Environment, Springer, Singapore. https://doi.org/10.1007/978-981-15-9809-8_2
Self-Balancing platform using Parallel manipulators (Dec 2018 - May 2019)
Final Year Project, NIT Trichy - Supervised by Prof. K. Pannirselvam
2 DOF mechanism to balance a platform (2RSSR)
AC Servo Motors for actuation the manipulator
Intelligent control to balance even with change in load on platform
Humanoid Robotic System (HuRoS) (Aug 2017 - May 2019)
Robotics and Machine Intelligence, NIT Trichy - One of the first human-sized bipedal robots in India
Kinematic model of 10 DOF-two-legged robot using DH parameters
Simulation of static walking gait in MATLAB-Simulink platform
Optimization of the design for greater efficiency by shifting the COG
Actuation of universal joints at hip and ankles using mechanisms like parallelogram linkages, gear drives
Physical-based control using center of mass, and foot placement (ZMP) to stabilize the robot and for
trajectory tracking
Intelligent trajectory generation to maintain balance at every point in the walking gait.
Master-Slave Robot Control system for API level control