I am a fifth year PhD. student in the Robotics Institute, School of Computer Science at Carnegie Mellon University. I work in the Intelligent Control Lab and the Advanced Agent Robotics Technology Lab. My advisors are Professor Changliu Liu and Professor Katia Sycara. Going back in time, I received an M.S. in Robotics from RI, CMU in 2018 under Professor Howie Choset and Dr. Matt Travers. I got an M.S. in Electrical Engineering from UCLA and a B.S. in Electrical Engineering from BITS, Pilani.

Research Interests

My research lies at the intersection of system identification and control of multiagent systems. I develop algorithms to control teams of robots in a provably-safe, robust and efficient way using ideas from optimization, inverse RL and control barrier functions. Some of the problems I have worked on include

• Collision-free trajectory generation for multirobot system with position uncertainty.
• Robust controller synthesis for noncoopeartive herding (swarm v/s swarm).
• Inferring individual agent goals/safety margins in interactive scenarios.
• Analyzing incidence of deadlocks resulting from distributed control approaches.

Updates

• (11-01-22) MIQP-based Pedestrian Dynamics Inference paper nominated for Best Student Paper at IFAC CPHS 2022
• (07-10-22) Selected for the Rising Stars in Dynamics and Control at MECC 2022
• (07-16-22) Paper accepted to DARS 2022 and CDC 2022
• (05-10-22) Paper accepted to ICRA Worksop on Social Navigation
• (12-08-21) Paper accepted to IJRR