Pranav Goyal

Pranav Goyal

Master's in Robotics at University of Michigan

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A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.

Pages

Posts

portfolio

projects

Spiderbot

The Electronics and Robotics Club, Feburary, 2020

Project SpiderBot started in Feb 2020, is a hexapod with six independent legs, each with three degrees of freedom. One advantage of legged robots is that it can climb over obstacles larger than itself. Hexapod walking robots also benefit from a lower impact on the terrain and have greater mobility in surroundings.

Gennav

The Electronics and Robotics Club, June, 2020

Gennav aims to create a general purpose python library that can be used for path planning in various robotics settings. It will have a collection of path planning algorithms, motion controllers along with various utilities to handle different methods of path optimisation, environment representation and eventually a geometry module to handle the underlying computations.

Trotbot

The Electronics and Robotics Club, June, 2021

Trotbot is a multipurpose robot, designed to serve autonomously in indoor environment. It can be used as follows: To deliver packages from one location to another in offices, construction sites etc. It can also be teleoperated to nearby locations using the camera feed.

Applications of Model Predictive Control in Robotic Systems

Mentored by Dr. Rakesh Warier, August, 2021

The project aimed at understanding the implementation of Model Predictive Control on robotic systems like 2D manipulator and comparing its peformance with other controllers. Since 2D robot arm is non linear system, we used the technique of feedback linearization to avoid high computation and complexity due to non-linear MPC.

Optimal Control Problems in Robotics

Mentored by Dr. Amit Setia, August, 2021

The aim of this project was to explore the application of various Optimal Control techniques for tasks such as trajectory planning and obstacle avoidance in robotics. We first did literature reading of pseudospectral transcription method for solving optimal control problems. We started with testing our method with simple optimization problems like Bryson-Denham and Toy Problem.

Project VeRT

Biorobotics Lab, June, 2022

Project VeRT aimed at finding research gaps and the challenges in rapid transport of heavy payloads and create a plan to address these challenges. The project was supported by DARPA USA and was lead by Dr. Beau Pollard and Prof Howie Choset.

On Orbit Manipulation

Biorobotics Lab, June, 2022

On Orbit Manipulation aimed at using robot arms for peforming MEV docking on the client side in geostationary orbit. The project was sponsored by Northrop Grumman USA and was lead by Dr. Beau Pollard and Prof Howie Choset.

NSF Surfside

Biorobotics Lab, June, 2022

The NSF Surfside project aimed at using the data from Champlain Towers South Condominium collapse at Surfside, Florida on June 2021 for developing method to reconstruct 3d point clouds of the disaster site and developing a method for void detection in these regions which have high changes of concealing a survivor. The project was supported by NSF USA and was lead by Prof Robin Murphy and Prof Howie Choset.

publications

AI-based face recognition and skin pixel recognition for computer vision applications

Published in Hindi Technical Seminar, CSIR - Structural Engineering Research Centre, Chennai, September 2021

The paper introduces a new threshold based skin and face detection method for extracting remote PPG signals for monitoring cardiac health. The propsed threshold values for skin pixels are tailored for the various skin tone found in Indian subcontinent region. Our threshold values were able to give a SSIM score of 0.82 on SFA Dataset (Human skin image dataset).

A Comparison of Point Cloud Registration Techniques for on-site Disaster Data from the Surfside Structural Collapse

Published in 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

Use Google Scholar for full citation

Recommended citation: Ananya Bal, Robert Ladig, Pranav Goyal, John Galeotti, Howie Choset, David Merrick, Robin Murphy, "A Comparison of Point Cloud Registration Techniques for on-site Disaster Data from the Surfside Structural Collapse." In the proceedings of 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2022.

Towards Automated Void Detection for Search and Rescue with 3D Perception

Published in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Use Google Scholar for full citation

Recommended citation: Ananya Bal, Ashutosh Gupta, Pranav Goyal, David Merrick, Robin Murphy, Howie Choset, "Towards Automated Void Detection for Search and Rescue with 3D Perception." In the proceedings of 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.

talks

Mowito Robotics

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Mowito Robotics is a robotics company, building robotics solutions for Warehouses. They focus on the software part of the solution and work on manipulators and mobile robots.

Biorobotics Lab, CMU

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Worked on various projects involving controls and 3D computer vision as part of my Bachelor’s thesis under Prof Howie Choset. Please go to Projects section for more details about the projects.

CLeaR Lab, NUS

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CLeAR lab in National University of Singapore seeks to improve people’s lives through intelligent robotics. The central focus of the lab is on developing physical and social skills for robots.

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