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Aryaman Shardul
Junior Robotics Engineer specializing in UAV control, MPC, and SLAM
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Master’s robotics candidate at Northeastern (Silicon Synapse Lab) who built and tuned an NMPC for the M4 multi-modal morphobot to achieve high-speed (>10 m/s) aggressive flight maneuvers and even hover under a full rotor failure, using MATLAB/CasADi/Simulink/Simscape with IPOPT. Also has ROS/ROS 2 experience spanning SLAM/navigation on a UGV and GPS/IMU sensor-fusion + dead-reckoning with custom ROS 2 nodes/messages, with a strong simulation-first and real-time debugging approach.
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Key Strengths
- Designed and tuned NMPC for a 28-state, 14-input morphing robot to enable >10 m/s aggressive trajectory tracking (90°/120° turns) under actuator limits
- Systematic cost-function/constraint isolation testing to improve NMPC performance and stability
- Fault-tolerant control adaptation enabling hover with 3 of 4 rotors (100% loss on one rotor)
- Hands-on ROS/ROS 2 autonomy stack experience across SLAM, localization, and navigation (Gmapping, HectorSLAM, AMCL, RTAB-Map, move_base)
- Strong sensor-fusion and calibration workflow (magnetometer hard/soft iron correction, complementary filtering, accelerometer drift mitigation) validated against GPS
- Real-time robotics debugging using ROS timing/TF analysis to resolve latency and sensor synchronization issues
- Simulation-first validation in Gazebo before hardware deployment; stress/edge-case testing mindset
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