• Designed and implemented a variant of Dynamic Roadmaps, for real-time motion planning under uncertainty, of a dual-arm setup

• Implemented a real-time path-following model predictive controller (MPC) using GRAMPC for continuous re-planning with Dynamic Roadmaps

• Developed and released a motion planning app consisting of optimization-based motion planning algorithms like TrajOpt using OSQP, IFOPT, sampling-based algorithms like RRT, RRT*, Descartes, and continuous collision detection algorithm using Bullet Physics thereby reducing the deployment time from weeks to hours

• Used the motion planning app for applications such as deburring, polishing, wire harness assembly, and bin picking

• Good understanding of CI/CD concepts, worked on writing docker files, improved the code coverage, involved in setting up Jenkins and bitbucket pipelines and auto packaging for the motion planning app

• Experienced in working as part of an Agile Scrum team and used Jira for bug tracking and task management

• Developed MATLAB module for path planning of autonomous robotic arm of high-DOF like KUKA’s LBR iiwa

• Implemented obstacle avoidance using Gilbert–Johnson–Keerthi (GJK) distance algorithm in parallel to RRT-star path planning to reduce the time complexity. The result was a refined path easily traceable by the robotic arm

• Improvised the motion planning for time-optimal pick and place operation of a 6 DOF robotic manipulator

• Worked on the gripping method and stack management for teach and repeat type application of the robot