My Experience

Autonomous mobile robot (AMR)  | Dr. K Madhava Krishna                                                                         

 

• Developed a real-time MPC-based trajectory tracking controller for multirotor UAVs using nonlinear system models, implementing the full control pipeline in ROS2 with reproducible Docker-based workflows. Integrated the controller with the PX4 flight stack and deployed it on UAV hardware for closed-loop flight testing, coordinating perception, control, and hardware interface modules through Linux and CMake. Implemented camera-based visual odometry for indoor navigation, enabling reliable localization in GPS-denied environments.

• Designed, prototyped and fabricated a custom agile UAV frame to improve maneuverability and sensor field-of-view; performed 3D printing, mechanical assembly, soldering, wiring, and connector fabrication for sensors, ESCs, motors, and power distribution modules.

• Executed a simulation-to-hardware (sim2real) iterative validation pipeline, debugging hardware, firmware, and software interactions to progressively improve system performance and robustness.

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Skills learnt: ROS2 | 3D Printing | PX4 | Docker | Acados | CasADI | Prototyping