545 Cory Hall
Berkeley, CA 94705
My research interests lie in using elements of Control Theory, Formal Methods, Machine Learning and Optimization to solve problems in Safe Autonomy of Robotic and other Cyber-Physical Systems, and Human-Robot Interaction. [Curriculum Vitae]
Prior to this, I was a PhD student in the Department of Electrical and Systems Engineering, at the University of Pennsylvania where I worked on developing Robust Predictive Methods for Planning and Control of Autonomous Systems as a part of Prof. Rahul Mangharam’s Real-Time and Embedded Systems Lab.
Computationally tractable solutions, that potentially solve real problems, are a recurring theme across my research. More often that not, the algorithms we develop are implemented on actual Cyber-Physical Systems, some of which are: multiple Crazyflie 2.0 quad-rotors, a 1/10th scale autonomous car, a hex-rotor platform, a hardware-in-the-loop vehicle ECU simulator, a scaled down hybrid powertrain for Electric Vehicles, and a self-balancing, fully enclosed electric motorcycle.
|Apr 29, 2021||Our paper on decentralized path planning with line-of-sight constrained communication between agents, led by Victoria Tuck, has been accepted at the IEEE Conference on Control Technology and Applications (CCTA), 2021.|
|Feb 4, 2021||Our paper on Learning-based Decentralized Multi-UAV Collision Avoidance will appear in the ACM Transactions on Cyber-Physical Systems.|
|Feb 1, 2021||Two of our papers have been accepted at the 2021 American Control Conference (ACC): one on co-designing the planner and controller for UAVs with Signal Temporal Logic objectives, and another on Counter-Example Guided Synthesis for systems with black-box learning-based perception modules.|
|Oct 18, 2020||Our paper (led by Kuk Jang) won the best paper in session (UAV conflict management) award at DASC 2020.|
|Jul 27, 2020||Our paper on Reinforcement Learning-based decentralized UAV collision avoidance will appear at the 2020 AIAA/IEEE Digital Avionics Systems Conference (DASC).|
|Jul 26, 2020||Our poster on Formal Scenario-Based Testing of Autonomous Vehicles will be presented at the 2020 Automated Vehicles Symposium on the 29th of July.|
|May 10, 2020||A paper on Formal Scenario-Based Testing of Autonomous Vehicles, with my lab-mates at Berkeley and collaborators at LG R&D and AAA-NCNU, was accepted for publication at this year’s IEEE International Conference on Intelligent Transportation Systems.|
|May 10, 2020||A paper with my former lab-mates from UPenn, on Learning-based UAV Collision Avoidance to enable Urban Air Mobility, was accepted for publication at this year’s IEEE International Conference on Intelligent Transportation Systems.|
|Mar 31, 2020||Our paper on the Co-design Computation and Control for Autonomous Systems was published in the IEEE Transactions on Control Systems Technology.|
|Oct 2, 2019||I have started as a Postdoctoral Scholar at EECS, UC Berkeley and will be a part of the VeHICaL Project (Primary Mentor: Prof. Sanjit Seshia).|