Academic and Industrial
Experience

Publications

  • Journal Publications
    • Cooperative Planning for Fuel-constrained Aerial Vehicles and Ground-based Refueling Vehicles for Large-Scale Coverage. Parikshit Maini, Kaarthik Sundar, Mandeep Singh, Sivakumar Rathinam and P.B. Sujit. IEEE Transactions on Aerospace and Electronic Systems (IEEE-TAES). Accepted [pdf]
    • Autonomous Quadrotor Landing On a Moving Target Using Vision and Guidance. Alvika Gauatam, Mandeep Singh, Srikanth Saripalli and P.B. Sujit. Machines Journal. Under Review [pdf]
  • Conference Publications
    • MPC Based Approach for Cooperative Target Defence. Amith Manoharan, Mandeep Singh, Andrea Alessandretti, J.G. Manathara and P.B. Sujit. American Control Conference (ACC) 2019.Accepted [pdf] .
    • Three Dimensional Path Following for Fixed-Wing UAVs. Mandeep Singh, Amith Manoharan, Ashwini Ratnoo and P.B. Sujit. International Conference on Unmanned Aerial Systems (ICUAS) 2019.Accepted [pdf] .

Research Projects

Simulating Traffic Agents in Realistic Scenarios

As a part of our capstone project during master's we built a simulation add-on to exhibit realistic traffic behavior and interactions for testing self-driving car algorithms. The cars inside the simulator are controlled such that they exhibit realistic traits as displayed by human drivers on roads. The behaviors are represented as rule based models and learning based models. These models are trained from data that we have collected from the real world. We have also built a data processing and parameter extraction pipeline to process the real world traffic camera data.

Urban Traffic Modelling with Multi-Agent Systems

As an Intern at Energy Research Institute @ Nanyang Technological Univeristy worked on modelling pedestrian behaviour for urban traffic requirements for testing autonomous driverless cars. I also worked upon developing cooperative navigation techniques for multiple agents connected over local network using GPS and IMU sensor.

Model Predictive Control (MPC) based Cooperative Target Defense

The research considers a three agent pursuit-evasion problem in which an attacker pursues to capture a target, while a defender tries to intercept the attacker to save the target. The target-defender team uses MPC to compute their optimal control inputs and attacker is assumed to use conventional missile guidance laws. Perfect knowledge of the attacker states is assumed to be unknown, hence an Extended Kalman Filter (EKF) is used to estimate the state of the attacker. Control laws were designed for a constant and a variable velocity target. Accepted, American Control Conference 2019.[pdf]

Cooperative Planning for Fuel-constrianed Aerial Vehicles and Ground-based Refueling Vehicles for Large-Scale Coverage

This work addresses the cooperative routing problem for a fuel constrained UAV and a terrain constrained ground based refueling vehicle in the context of a coverage application. A two stage solution strategy is designed to find efficient solutions to the problem, wherein the first stage computes a feasible set of refueling sites for UAV-RV rendezvous and the second stage performs joint route planning that satisfies the fuel and speed limitations of the two vehicles, respectively. Accepted, IEEE Transactions on Aerospace and Electronics System. [pdf]

Three Dimensional UAV Path Following Using LQR Guidance

In this paper, we propose a three dimensional adaptive optimal guidance strategy for 3D stationary and moving path following applications using LQR approach. Stability of the guidance law is ascertained and the approach is evaluated under different wind and target motion conditions. The guidance law shows robust performance up to 10 m/s wind speed and can follow different geometric references paths. [pdf]

LQR Guidance Law for Ship Borne Net Recovery of Fixed Wing UAVs

In this study, we consider the landing problem as a moving path following problem and present a decoupled three dimensional LQR-based guidance law for a net recovery landing of a fixed wing UAV on board a ship deck. Stability analysis of the guidance law is carried out and its performance is evaluated on aerosonde UAV in MATLAB and RASCAL aircraft on SITL. Simulations are carried out taking actuator dynamics, different sea states for ship motion and varying wind disturbances into account and their results are presented.

Vision based landing using Fixed Wing UAVs

In this project we target landing of fixed wing UAVs using vision based guidance. In this scheme, the fixed wing UAV is detected and tracked from the camera mounted on ground and feedback is generated in terms of roll and pitch angles to keep the UAV in the center of the frame. The algorithms were tried on a real dataset that was collected using a glider aircraft. [Poster] [Report]

Latest

  • Our conference paper on "Three Dimensional Path Following for Fixed-Wing UAVs." got accepted for publication at International Conference on Unmanned Aerial Systems (ICUAS) 2019. 15 April, 2019
  • Our conference paper on "MPC based Cooperative Target Defense" got accepted for publication at American Control Conference 2019. 28 January, 2019
  • Our journal paper on "Cooperative Aerial-Ground Vehicle Route Planning with Fuel Constraints" got accepted for publication at IEEE Transaction on Aerospace and Electronic Systems. 22 January, 2019
  • My team Netbots got shortlisted for PHASE-1 IAF MEHAR BABA Swarm Drone Compeitition. 7 December, 2018
  • Selected for 2019 AIAA Undergraduate Conference Experience Award. Recieved travel and registration grant for attending GNC Conference in San Diego, California from 7-11 January 2019. 31 October, 2018
  • Got my poster accepted at 2018 EEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018). 1 September, 2018
  • My UAV Team of IIITD won a prize of $850 at one of the world largest unmanned aerial systems competition, Student Unmanned Aerial Systems Competition (SUAS 2018), US Naval Field, Maryland USA. 16 June, 2018.
  • Recieved a funding of Rs.5 lakhs for development of fixed wing platform from Centre of Artificial Intelligence, Infosys, IIITD. 9 November, 2016
  • Lead the UAV Team to SUAS for the very first time to SUAS 2016 from IIITD and won a prize money of $1600 at US Naval Field, Maryland USA. 16 June, 2016.

Want To Get In Touch

Feel free to contact me at msingh2@andrew.cmu.edu