Dhruv Tyagi • Robotics

About Me

I'm Dhruv Tyagi, an MS Robotic Systems (MRSD) student at Carnegie Mellon University
with experience and interest in:

Mobile / Field / Space / Underwater Robotics

Work Experience

• Robotics Software Engineering Intern

Blue River Technology | Santa Clara, CA | May - Aug 2023
- Integrated RTI DDS topic monitoring capabilities using python to monitor sensor data health and frequency without directly accessing data
- Established sensors data processing and visualization pipeline with ROS 2, C++, MCAP recordings, foxglove studio and RTI
- Analyzed 7 different GPS-denied localization approaches for Self-driving/Autonomous Construction Vehicles. Formalized system requirements, investigated test data and performance of promising solutions

• Robotics Software Engineer

Movel AI | Singapore | Nov 2020 - Apr 2022
- Engineered modified A* search-based planner for multi-floor/multimap path-planning and navigation using ROS & C++, to solve issues of system lagging due to big map size: Achieved less than 1 second map-switch time
- Programmed breadcrumb-based path-planning algorithm tailored to client’s request for industrial AMRs with ROS 2, C++
- Built motion planning for autonomous LiDAR-based docking for industrial mobile robots
- Investigated Visual/Stereo SLAM with RTABMap package in ROS for commercial robots

• Engineering Intern

Defense Research Development Organization | Dehradun, India | May - June 2019
- Identified and corrected calibration errors in sensor systems, interfaced with microcontrollers using embedded C

Autonomous Racing Software

Motion Planning | ROS 2 | C++ | Optimal Control | Perception

Full-stack autonomous racing software for 1/10th scale self-driving cars.

Multi-Robot Path Planning for Collaborative Fleets

Multi-agent | C++ | Path Planning

Planning for multiple agents with different capabilities in re-configurable environment

Repo ▶

Autonomous Lunar Excavation with ROS 2

System Design | C++ | ROS 2 | Software Architecture | Systems Engg.

Proof-of-concept software and system for autonomous lunar site-work operations.

Sponsors: Dr. William (Red) L. Whittaker & Caterpillar Inc.

Model Predictive Control for Simulated Docking

Optimal Control | Trajectory Optimization

Applied finite-horizon LQR, trajectory optimization and Convex MPC to a simulated autonomous spacecraft docking scenario using Julia.

Control for Biomimetic Marine Robot

Software Architecture | Controls | Systems Engg.

Led team and developed control software for an underwater robot inspired from Manta-ray fish, to address concerns of noise and turbulence caused by conventional thrusters. Propels with soft fin-like surfaces. Won 1st place in college-wide project competition.

Navigation Software for Autonomous Underwater Vehicle

Robot Navigation | Controls | Systems Engg.

Co-founded and captained an undergrad team to participate in ‘Singapore AUV Challenge 2018’, secured 4th rank internationally.
Developed navigation and control software for AUV with C++ and python.

Skills

Programming Languages

C++ [Advanced]

Python [Intermediate]

MATLAB/Julia [Intermediate]

Software

Data Structures & Algorithms
Docker
Git
Bazel
Linux
Solidworks

Robotics

ROS / ROS 2
Motion / Path Planning
Localization & Mapping
Control Systems
Behaviour Planning
Machine Learning

Certifications

Machine Learning Specialization (Coursera - deeplearning.ai)

Robotics Software Engineer Nanodegree (Udacity)

Autonomous Mobile Robotics (edX - ETHx)

Courses

MS Robotic Systems Development - Carnegie Mellon University

- Multi-Robot Planning & Co-ordination
- F1-Tenth Autonomous Racing
- Optimal Control & Reinforcement Learning
- Robot Localization & Mapping
- Robot Learning - Reinforcement & Imitation Learning
- Manipulation, Estimation & Control
- Robot Autonomy
- Robot Mobility in Air, Land & Sea
- Systems Engg. & Project Management
- Computer Vision
- Robotics Business

B.Tech Mechatronics Engineering - NMIMS University

- Dynamic Systems Modeling & Analysis
- Industrial Robotics
- Basic Control Systems
- Artificial Intelligence
- Mechatronic System Design
- Object-Oriented Programming