I am a full-stack Roboticist. My research focus is on developing "tightly coupled" planning, control and vision algorithms to build resilient autonomy capabilies and deploy them on real-world missions. I have been working at NASA's Jet Propulsion Laboratory as a Robotics Research Technologist since 2017, prior to which, I got my graduate degree in Robotics at Carnegie Mellon Unversity, Pittsburgh, USA and undergrad in Mechanical Engineering at Visvesvaraya National Institute of Technology, Nagpur, India.
EELS, Snake Robot to Explore Enceladus
Sep 2022 – Present
Leading the Autonomy team of over 15 JPL researchers and engineers to develop risk-aware decision-making capabilities to achieve resilient mobility in perceptually degraded extreme environments.
Papers: <stay tuned>
Learning for Planning Team Lead
High-speed Autonomous Off-road Navigation
DARPA RACER (Ex-1)
In collaboration with UC Berkely, MIT, and GaTech
Oct 2021 – Sep 2022
Led the collaboration with UC Berkeley and MIT to developed classical, imitation learning and reinforcement learning-based motion planning algorithms and deployed on full-scale off-road vehicles in Mojave Dessert.
Papers: , <stay tuned>
Guidance, Navigation and Controls Lead
DARPA Subterranean Challenge (Tunnel Circuit)
In collaboration with Caltech, MIT, Boston Dynamics, and more!
June 2018 – Feb 2020
Led the GNC group of Team Costar to develop the full autonomous mobility stack for drones, legged robots, and wheeled robots deployed in real-worled environments such as the tunnels, mines, and caves.
Finished 2nd in Tunnel Circuit and 1st in Urban Circuit.
Papers: , , , , , , , 
Verifiable Mulit-agent Autonomy for Mars Helicopter and Rover
In collaboration with Prof. Richard Murray & Prof. Aaron Ames, Caltech
May 2017 – May 2018
Developed a framework for multi-agent risk-aware planning under uncertainty for coordination of Mars Rover and Mars Helicopter to generate policies that maximize the probability of satisfaction of a mission speciﬁcation deﬁned by Linear Temporal Logic (LTL) using POMDPs.
Papers: , , , , 
Guidance, Navigation and Controls Developer
GPS-deined High-speed Autonomous Quadrotor Flight
In collaboration with Google Tango Team, ARL
Mar 2017 – Feb 2018
Developed planning and controls algorithms and software by exploiting geometric controllers and differential flatneess. Drone achieved speeds over 10m/s in indoor GPS-denied environments!
Papers: , , , 
Graduate Student Researcher, CMU
Kinodynamic Motion Planning for Dual Arm Manipulation & Non-linear control of quadrotors
Co-adivsed by Dr. Siddhartha Srinivasa and Dr. Koushil Sreenath
Developed a sampling-based Asymptotically Optimal Kinodynamic Motion Planner for high dimensional non-euclidean spaces. Demonstrated an order of magnitude improvement in convergence rate compared to state-of-the-art Hierarchical Rejection Sampling Algorithms.
Paper(s):  Picture credits (1), (2)