● Worked on a Reinforcement Learning Project where I used an Actor-Critic DDPG Model Implementation (Python, Tensorflow) on Turtlebot3 inside ROS and Gazebo framework to navigate multiple turtlebots inside a Dynamic Environment towards their respective targets.

● Helped a set up a rudimentary sensor fusion improvisation where the DDPG model was trained over the 2d LiDAR and depth camera information.

●Worked on 3D Pose Estimation with coordinate transforms on a 3D polygon having multiple Arucos placed on its surface.

●Achieved high level of control of a robotic arm employing MoveIt! library and its low-level C++ API MoveItCpp along with ROS to perform dexterous motion in Gazebo simulation.

●Realized simulation control system of robotic arm on hardware via its robotics suite and ROS for real-time control.

●Processed camera images from Drones to perform Object Tracking in Python using Contour properties and OpenCV Trackers.

●Set up a ROS interface between Nvidia Jetson TX2 and DJI Drone M100|M600 to control multiple drones via a master node.

●Programmed a C++ ROS Node which controls two UAVs to perform a set of motion planning tasks (Sensors: GPS and IMU).

●Designed an Inertial Navigation System along with a PD controller to navigate DJI drones in an unknown environment.