Hello! I'm Vismay Vakharia—professionally, a robotics researcher; academically, a Computer Science and Mechanical Engineer.
Based in Bengaluru, India, I specialize in robotics, autonomous systems, and AI-powered solutions. With extensive experience across academia and industry, I dive into exciting projects that blend motion planning, machine learning, and control systems to shape the future of automation.
Currently, I work at Tata Consultancy Services Research, where I've led the development of advanced robotics solutions, such as omni-directional mobile robots and teleoperation frameworks integrated with 5G networks. My work has earned recognition at global competitions, including the ANA Avatar XPRIZE and the Mohamed Bin Zayed International Robotics Challenge (MBZIRC-2020).
I hold a Master's in Computer Science with a focus on Interactive Intelligence from Georgia Tech and a Bachelor's in Mechanical Engineering with honors from IIT Gandhinagar. My career has taken me across research and industry, focusing on robotics, machine learning, motion planning, and control systems. I've developed solutions for robotic manipulation, navigation, and task allocation, with hands-on experience in high-fidelity simulations and real-time control models, including a research stint at Texas A&M University.
I enjoy working at the intersection of software and hardware, designing solutions that push the boundaries of robotics. I'm proficient in Python, C++, ROS, and frameworks like TensorFlow and PyTorch, with experience in tools like SolidWorks, MATLAB, and Gazebo. Whether it's building algorithms, leading teams, or experimenting with robots, I thrive on tackling complex challenges and bringing innovative ideas to life.
TCS
- Successfully developed Deep Learning based ML algorithms for 6D pose estimation and Deep Reinforcement Learning for dual-arm mobile manipulation enhancing stability and efficiency
- Created a multi-headed control framework for teleoperation, shared autonomy, and full robot autonomy that handles delay compensation & packet loss
- Built simulation environment in Gazebo and PyBullet, integrating ROS controllers and sensors
- Led the development of navigation system for the omni-directional robot with safety algorithms for collision avoidance
TCS
- Created a resource management algorithm for task allocation across robot fleets
- Implemented Kalman Filter for odometry using various sensors
TCS
- Developed a full-fledged simulation environment in Gazebo with ROS framework for the Challenge 2
- Implemented the end-to-end navigation stack including sensor fusion, localization, mapping, navigation and obstacle avoidance on the ground vehicle using sensors like Lidar, IMU, GPS \& cameras
Texas A&M University
- Developed a mathematical model of vehicle dynamics consisting of two sub-models i.e. Linear Tire Model and Planer Bicycle Model
- Used System Identification Techniques to refine the mathematical model using the data acquired by performing custom experiments
- Implemented Euler's Method to discretize the model and estimated cornering stiffness of tires using Least Squares method and compared accuracy against simulation developed in MATLAB
IIT Gandhinagar
- Developed a prototype glove by implementing 4-bar mechanism using 3D printed and machined parts and installed actuators, sensors and microcontroller
- Tested the working of actuated glove on dummy hand
- Developed a simulator on Simulink (MATLAB) using CAD model of fingers \& palm and connected it to the glove via Arduino to visualize the actual sensor data
ATMAS: Assistive Teleoperation Method Using Augmented Reality and Switching Control
2024
Augmenting Robot Teleoperation with Shared Autonomy Via Model Predictive Control
2024
Teleoperated Omni-directional Dual Arm Mobile Manipulation Robotic System with Shared Control for Retail Store
[ PDF ]
2024
System for Autonomous Management of Retail Shelves using an Omnidirectional Dual-arm Robot with a Novel Soft Gripper
[ PDF ]
2024
An Efficient Method for Accurate Pose Estimation and Error Correction of Cuboidal Objects
[ PDF ]
Mobile Manipulation
2022
Jan 2022 - Dec 2023
MS in Computer Science
Georgia Institute of Technology
Jul 2014 - Jul 2018