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## Autonomous Underwater Vehicle (AUV) 

 <p style="text-align:left;"> Funded by Dean of Research and Development, IIT Kanpur <span style="float:right;"><small>November 2014- ongoing</small></span></p>
Supervisors: [Prof. <NAME>](http://home.iitk.ac.in/~venkats/), [Prof. <NAME>](http://www.iitk.ac.in/new/sachin-y-shinde)

<img style="float: left; padding: 0px 6px 0px 0px" src="/images/Projects/AUV/AUV water.jpg" width="45%">

Initiated in 2014 by a team of undergraduates, as a project in Robotics Club, we aim to build an AUV as a platform for research in underwater robotics. The team has been divided into three sub-systems namely the mechanical, electrical and software subsystems, of which my major contributions has been towards the former two.

We participated at the National Student Autonomous Vehicle (SAVe) Competition held at Chennai in December 2016, and achieved a second position on our debut, among 12 other shortlisted teams for the finals.

<p align="center"> 
    <a class="btn btn-primary" href="../documents/AUV-IITK Report.pdf" target="_blank">View Report </a>
    <a class="btn btn-primary" href="http://auviitk.com/" target="_blank">Visit Website </a>
</p>

<hr>
	
## Unmanned Exploration System

<p style="text-align:left;"> Funded by The Boeing Company <span style="float:right;"><small>July 2016- ongoing</small></span></p>
Supervisors: [Prof. <NAME>](http://home.iitk.ac.in/~bhattacs/), [Prof. <NAME>](http://www.iitk.ac.in/new/dr-s-kamle)

<img style="float: left; padding: 0px 6px 0px 0px" src="/images/Projects/Boeing/Phase bots.jpg" width="45%">

In our current phase of the project (phase-VII), we are building an aerial and ground vehicle team of autonomus robots that shall perform the operation of bomb- disposal squad. The two robots seem to form a 'symbiotic' relationship in which they help overcome each others limitations and leverage their capabilities.

In order to increae our efficiency, the team of seven members has been divided into two- one dealing with mapping using the aerial robot while the other one working on the localization and planning for the ground robot. My work has been directed towards using sampling based algorithms such as Rapidly- exploring Random Trees (RRT) and its variants (RRT*, A*-RRT*) for planning the motion of the ground robot, and implemnting it on the same.
<p align="center"><commit_msg>Added images to project<commit_after>---
layout: page
permalink: /projects/
---

## Autonomous Underwater Vehicle (AUV) 

<p style="text-align:left;"> Funded by Dean of Research and Development, IIT Kanpur <span style="float:right;"><small>November 2014- ongoing</small></span></p>
Supervisors: [Prof. <NAME>](http://home.iitk.ac.in/~venkats/), [Prof. <NAME>](http://www.iitk.ac.in/new/sachin-y-shinde)

<img style="float: left; padding: 0px 6px 0px 0px" src="/images/Projects/AUV/AUV water.jpg" width="45%">

Initiated in 2014 by a team of undergraduates, as a project in Robotics Club, we aim to build an AUV as a platform for research in underwater robotics. The team has been divided into three sub-systems namely the mechanical, electrical and software subsystems, of which my major contributions has been towards the former two.

We participated at the National Student Autonomous Vehicle (SAVe) Competition held at Chennai in December 2016, and achieved a second position on our debut, among 12 other shortlisted teams for the finals.

<p align="center"> 
    <a class="btn btn-primary" href="../documents/AUV-IITK Report.pdf" target="_blank">View Report </a>
    <a class="btn btn-primary" href="http://auviitk.com/" target="_blank">Visit Website </a>
</p>

<hr>
	
## Unmanned Exploration System

<p style="text-align:left;"> Funded by The Boeing Company <span style="float:right;"><small>July 2016- ongoing</small></span></p>
Supervisors: [Prof. <NAME>](http://home.iitk.ac.in/~bhattacs/), [Prof. <NAME>](http://www.iitk.ac.in/new/dr-s-kamle)

<img style="float: left; padding: 0px 6px 0px 0px" src="/images/Projects/Boeing/Phase bots.jpg" width="45%">

In our current phase of the project (phase-VII), we are building an aerial and ground vehicle team of autonomus robots that shall perform the operation of bomb- disposal squad. The two robots seem to form a 'symbiotic' relationship in which they help overcome each others limitations and leverage their capabilities.

In order to increae our efficiency, the team of seven members has been divided into two- one dealing with mapping using the aerial robot while the other one working on the localization and planning for the ground robot. My work has been directed towards using sampling based algorithms such as Rapidly- exploring Random Trees (RRT) and its variants (RRT*, A*-RRT*) for planning the motion of the ground robot, and implemnting it on the same.
<p align="center">
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