Hi there ! I am a second year PhD student working at the Robotics Systems Lab, under the supervision of Prof. Christian Ott. My work focuses on developing passivity-based controllers for suspended aerial robots. My primary goal is utilizing underactuated aerial systems for task-prioritiation tasks such as physical aerial interaction with an unknown environment. I am also interested in applying data-driven techniques to augment model-based whole body controllers (WBC). Previously, I worked with Prof. Antonio Franchi as a research engineer on aerial manipulation. I completed a MSc in Aerospace Engineering from the Delft University of technology, with a specialization in control and simulation.

News

• Jan, 2024 : My article got accepted for ICRA 2024 !
• Oct, 2023 : I gave a talk at the Intelligent Robotics Seminar, TU Wien.
• April, 2023 : I gave a talk at the Intelligent Robotics Seminar, TU Wien.
• June, 2023 : My article got accepted for IROS 2023 !
• Nov, 2022 : I gave a talk at the Intelligent Robotics Seminar, TU Wien.
• Aug, 2022 : I joned as a Phd student at Robotics Systems Lab.
• June, 2022 : My article got accepted for IROS 2022 !
• Jan, 2022 : My article got accepted for RAL and ICRA 2022 !
• Feb, 2021 : My article got accepted for ECC 2021!

Selected Publications

Observed-based Controller Design for Oscillation Damping of a Novel Suspended Underactuated Aerial Platform

(To appear) IEEE International Conference on Robotics and Automation, 2024

Hardware-in-the-loop Simulation (HILS) of Vehicle Manipulator Systems (VMS) for Physical Interaction Tasks

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

Nonlinear model predictive control for human-robot handover with application to the aerial case

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

Motor-level N-MPC for cooperative active perception with multiple heterogeneous UAVs

IEEE Robotics and Automation Letters, 2022

Incremental Nonlinear Dynamic Inversion Control of Long-Stroke Pneumatic Actuators

European Control Conference (ECC), 2021

Bio-inspired Landing of Quadrotor using Improved State Estimation

IFAC International Conference on Advances in Control and Optimization of Dynamical Systems, 2018

Experience

• PhD Researcher at Vienna University of Technology, Austria (2022 - Present)
• Research Engineer at University of Twente, The Netherlands (2020 - 2022)
• Research Internship at German Aerospace Center (DLR), Germany (2019)
• Project Engineer at Indian Institute of Science, India (2017-2018)
• Project Engineer at Indian Institute of Technology, Bombay, India (2016)

Education

• PhD in Aerial Robotics and Control from Vienna University of Technology, Austria (2022 - Present)
• Master of Science in Aerospace Enginnering from Delft University of Technology, The Netherlannds (2018 - 2020)
• Bachelor of Science in Electrical Engineering from National Institute of Technology, Silchar, India (2012 - 2016)