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

NNLS_report.pdf

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

OptimalControl_report 2021-12-10 18_13_53.pdf

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

Robot_learning_and_control 2021-12-10 17_22_48.pdf

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

Autonomous Navigation-uav_ugv coordination report.pdf

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