This project introduces a hierarchical Control Barrier Function (CBF)-based control framework designed to proactively ensure the safe operation of an industrial manipulator in close human-robot interaction scenarios.
For aggressive maneuvers of quad rotors, it is essential to have quick and precise control. This project presents a systematic approach to achieve the same using the cascade control approach.
This project discusses the formulation of torque-based control for the SCARA manipulator, along with trapezoidal velocity profile-based trajectory generation.
This project focuses on ensuring compliance with the Government of India’s regulations for drone operations by implementing software APIs for traceability, security, and operational safety. The goal is to achieve Level 0 Compliance for flight modules using Pixhawk, ensuring secure flight log signing and key management within the PX4 source code.
This project demonstrates the fusion of sensor data from an IMU and a camera to estimate the pose and linear velocity of a drone. This is achieved by leveraging principles of computer vision and state estimation, including homography matrix estimation, FAST feature detection, KLT tracking for optical flow, RANSAC for outlier rejection, and the Unscented Kalman Filter.
