Robotics | Neeraj Balachandar | Research Portfolio

Nonlinear Model Predictive Control via Sequential Convex Programming for Drone-to-Drone Docking

Thu, 11 Sep 2025 00:00:00 +0000

Problem

This project develops sequential convex programming formulations for drone-to-drone docking. The focus is on safe, feasible trajectories that respect disturbance bounds and actuator limits while preserving computational tractability.

Approach

Convexified constraints for safety and docking geometry
Robust thrust profiles under bounded disturbances
Numerical validation on docking scenarios

Sparus AUV Modelling and Control

Sat, 01 Jun 2024 00:00:00 +0000

Problem

Developed a hydrodynamic model for the Sparus AUV and implemented a Simulink-based stabilization controller for underactuated dynamics.

Approach

Derived a reduced hydrodynamic model suitable for control-oriented simulation.
Implemented and tuned a Simulink stabilization loop for underactuated operating conditions.

Adaptive Trajectory Planning with Sequential Convex Programming for Drone-to-Drone Docking

Thu, 01 Jan 2026 00:00:00 +0000

Accepted for presentation at AIAA SciTech 2026 (Session IS-24: Autonomy III).

On the Use of Gimbal-based Multi-DOF Platform for Hardware-in-Loop Reinforcement Learning for Characterizing the Dynamics of Underactuated Aerial Vehicles

Mon, 01 Dec 2025 00:00:00 +0000

In process for submission to IEEE Transactions on Robotics.