Irene Grace Karot Polson

Autonomy Engineer

2024

Autonomy Engineering Intern

2023 - 2023

F1 Tenth Autonomous Racing

2023 - 2023

· Designed and deployed a high-speed ROS2 autonomous driving stack on NVIDIA Jetson Xavier NX. · Our stack featured Automatic Emergency Breaking(AEB), a pure-pursuit controller and precision navigation with RRT and occupancy grid-based obstacle avoidance.

Obstacle Avoidance Trajectory Planner And Controller for Quadrotor

2023 - 2023

· Engineered the autonomy stack for the CrazyFlie quadrotor, seamlessly integrating a nonlinear geometric controller, a 3D trajectory and motion planner employing A*/Dijkstra algorithms for obstacle configuration space, and a minimum jerk polynomial trajectory generator optimized through quadratic programming.

Pick and Place with Panda Arm Motion Planning

2022 - 2022

· Using inverse kinematics to determine joint angles needed for effective path planning. Both static and dynamic blocks were picked up and stacked. · ROS is used as framework and gazebo for simulation.

Flight Operations Analysis Intern

2021 - 2021

• Worked on automatic Flight classification into Multiple groups for more efficient flight operations analysis. • The multiple classes considered were test, delivery, training, and normal flights.

Derivative-free Adaptive Spacecraft Attitude Control

2021 - 2021

Advisor: Dr. Dipak Kumar Giri | Space Dynamics and Flight Control Laboratory · Developed a purely adaptive control system with derivative-free weight update laws on a spacecraft attitude system represented using MRPs. · Working on applications of machine learning and evolutionary optimization techniques on adaptive laws and its update rates as a part of my undergraduate research project.

Autonomous Multi-Drone Path Planning for Large Structure Inspections

2021 - 2021

Advisor: Dr. Debasish Ghose, Guidance | Control and Decision Systems Laboratory, IISc Bangalore · One amongst 60 students selected from across India as a candidate for the Indian National Academy of Engineering Mentorship Program 2021-22. · Developed an in-house controller and a 3D coverage path planning algorithm using Lissajous curves without explicit geometry. It can easily be implemented at nominal computation costs.

Control System Design using Bond Graph Representation

2021 - 2021

Advisor: Dr. N. Selvaganesan | Indian Control Conference 2021 · Developed a power-based graphical representation of quadcopter system and its controller using bond graph approach. Reduced model is derived and is used to obtain feedback. · The entire closed-loop MIMO system is represented using 20-sim software and simulations were performed to meet satisfactory stable responses under tracking and disturbance conditions.

Controls Development Engineer

2020 - 2021

• Automating the process of tuning PID controllers in a control system simultaneously. • Find the optimal gains using evolutionary optimization techniques such as the Genetic Algorithm. • Using PX4 simulator for the simulation environment with Quadcopter simulation using JMAVsim or connections to Pixhawk. • MAVLink connections through UDP ports were used in MATLAB for optimization and parameter setting.

Deep Learning Internship

2020 - 2020

• Classify satellite images into classes of military targets using PyTorch and Sci-Kit learn libraries. • Worked with a dataset of planes ( 25000+ images) to do binary classification and a dataset of different classes of ships ( 8000+) to do multiclass classification. • Implementation of Kalman Filter over Neural Networks to perform target tracking on passive Radar signal-bearing angles. Using the bearing angles and timestamps, we predict the target trajectory. • Made the Dataset for training and testing using Robotics System Toolkit, MATLAB.