I develop perception and planning methods for marine infrastructure inspection with the Heron surface robot. I am a Ph.D. candidate in Mechanical and Aerospace Engineering at UCLA and a researcher in the Sensing & Robotics for Infrastructure Lab.
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Adaptive tube model predictive control for orbital rendezvous and capture, with set-membership estimation of uncertain parameters. This simulation code builds on my M.S. research and our 2025 IEEE Aerospace Conference paper.
The repository includes study scripts that save experiment inputs and source snapshots.
A Python/CasADi simulation testbed for decentralized learning model predictive control and range-aided localization across modeled ground, surface, and underwater robots. The repository includes plots and run records and a resumable simulation workflow.
Distributed allocation, formation maneuvers, and attitude coordination for spacecraft assembly in an elliptic orbit. I developed the framework during my undergraduate thesis under Dwaipayan Mukherjee's supervision and evaluated it in simulation. 2021 Indian Control Conference paper.
- mechaXY: A collaborative Bluetooth-controlled XY stage prototype, with ESP32 firmware, Android controls, and archived demonstration videos.
- SQuAT Plan: A collaborative UCLA course project on nonlinear quadrotor trajectory optimization with obstacle constraints and visualization, evaluated in simulation.