Neha Marne

Tutor for Undergraduate Robotics and Autonomous Systems Minor Courses, CMSC477 - Perception and Planning for Robotics ENAE 450 - Robotics Programming

● led a team to build a decentralized swarm of three UAVs to showcase capabilities like flocking, and foraging. ● We Achieved swarming coherence in Hardware in the loop (HITL) and on hardware to make a demonstration for the Indian army in just 𝟮 𝗺𝗼𝗻𝘁𝗵𝘀. ● We used 𝗕𝗨𝗭𝗭 architecture for implementing the task. The main challenge here was that the repository had bare minimal documentation and was written in a research-based new language “BUZZ”.

● Developed an algorithm to switch the planner of the bot as per obstacle density around the bot. ● I clustered the 2D-lidar scan using PCL to achieve this task which streamlined the bot's motion and reduced computation power.

● I was a core member of IvLabs, Robotics, and AI club of VNIT. ● I Worked on two projects while working in the lab which are mentioned in the project section ● Appriciated planning and leading projects by mentoring students and conducting educational workshops.

𝐒𝐰𝐚𝐫𝐦 𝐋𝐨𝐜𝐚𝐥𝐢𝐳𝐚𝐭𝐢𝐨𝐧 𝐰𝐢𝐭𝐡 𝐌𝐢𝐧𝐢𝐦𝐮𝐦 𝐒𝐞𝐧𝐬𝐨𝐫𝐲 𝐈𝐧𝐩𝐮𝐭 ● Developed an indoor UAV swarm localization algorithm using UWB signal strength, IMU, and sonar sensors inspired by the triangulation method.

𝐌𝐚𝐢𝐧𝐭𝐞𝐧𝐚𝐧𝐜𝐞 𝐨𝐟 𝐒𝐰𝐚𝐫𝐦 𝐂𝐨𝐡𝐞𝐫𝐞𝐧𝐜𝐞 𝐰𝐢𝐭𝐡 𝐌𝐢𝐧𝐢𝐦𝐮𝐦 𝐂𝐨𝐦𝐩𝐮𝐭𝐚𝐭𝐢𝐨𝐧 ● Accomplished swarming coherence using basic attraction-repulsion force field to implement boid algorithm on UAV swarm, utilizing the PX4-MAVROS framework.