Projects 

QuITO v.2 | Quasi-Interpolation based Trajectory Optimization  

A numerical software package to solve optimal control problems directly.  QuITO version 2 out now !  (with local mesh refinement capabilities and host of additional example problems). The software package is available at QuITO v.2

International Aerial Robotics Competition 2021-22

Objective: To autonomously perform aerial replacement of a 2kg heavy module attached to a mobile platform while operating over long distances.

Approach: Mother-daughter configuration, with the daughtership launched in-flight from the mothership. A Finite-State-Machine-based central autopilot was developed for decision-making and autonomy, and mission was tested on hardware.
Control for trajectory tracking:  Developed  a cascaded  High-level controller  for  accurate trajectory tracking at speeds of over 10m/s. 
In-flight Manipulation: Assembled and automated sophisticated electro-mechanical assemblies for onboard dexterous manipulations

(GitHub) / (Simulation Video)