AUTOBargeSim is developed using MATLAB and provides an easy-to-use introduction to various aspects of autonomous inland navigation, including mapping, modelling, control design, and collision avoidance, through examples and extensively documented code. Applying modular design principles in the simulator structure allows it to be easily modified according to the user's requirements. Furthermore, a GUI interface facilitates a simple and quick execution. (Paper), (Github)
The project involved designing and implementing a linear state-feedback tracking controller for a cascaded multi-tank system. The control objective is that the liquid levels in each tank must reach and stabilize at the desired levels for all initial conditions, without any overshoot or undershoot, and at the desired convergence rate by controlling the pump input and the valve resistances. (Video), (Paper)
The design and analysis of consensus protocols for directed networks with fixed/switching topology and with/without time delay is performed. Simulations are carried out, and the possible extensions in the literature are explored. (Slides)
The project involved designing and implementing a control law to dispatch elevators in a multi-storey building using the average waiting-time information and a count of the number of people waiting on each floor. A significant challenge was achieving an accurate count in real-time while employing the limited computational resources of a single-board computer. (Slides)