I am a Research Fellow in the School of Computing at the University of Leeds. My research interest is in robotic manipulation, manipulation planning, motion planning and motion control.

I envision a future where robots co-exist with humans in dynamic environments to empower and improve the quality of their lives. For example, consider a robot at home assisting a motor-impaired person with daily tasks like the one in the figure above. The robot needs to retrieve the orange juice bottle from the back of a cluttered fridge. Other obstacles, at the front of the fridge, prevent the robot from directly reaching and grasping the object successfully. The robot needs to find a plan to manipulate those objects, perhaps by safely pushing them away, to create the required space to reach and grasp the orange juice bottle.

My research deals with such challenging problems where a robot needs to interact with movable objects in cluttered and dynamic environments. In specific, I am interested in developing motion planning and control algorithms for non-prehensile physics-based manipulation in clutter. This is a particularly challenging problem in Robotics today. We don’t have robots that can achieve such manipulation effectively in highly cluttered environments like a fridge or a warehouse shelf.

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Experience

Research Fellow in Robotic Manipulation

University of Leeds (2021-Today)
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I am currently working on an exciting UKRI/EPSRC funded project in robotic manipulation and my main research focus is in motion planning and motion control. We develop a novel robotic manipulation system for warehouse automation.

  • I conduct research in relevant areas of the project and develop novel algorithms to tackle challenging and open problems in Robotic manipulation.
  • I oversee the development, integration and testing of algorithms in the robotic system.
  • I contribute to PhD student supervision.

Software Developer

Cimlogic (2015-2016)
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I spent a year working in industry for a software development firm.

  • I worked with a range of Microsoft technologies, including C#, SQL Server, and ASP.NET.
  • Practiced agile methodologies to software development.
  • Contributed to project development and deployed software to companies.

Education

Doctor of Philosophy, PhD

School of Computing, University of Leeds (2017-2021)
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  • Research focus: robotics; robotic manipulation; physics-based motion planning; motion control.
  • Recipient of a prestigious UKRI-EPSRC Doctoral Training Partnership (DTP) full scholarship.

B.Sc. Computer Science (Industrial)

School of Computing, University of Leeds (2013-2017)
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  • Core Computer Science degree with a year spent working as a Software Developer in industry
  • My individual final year project investigated and implemented a robot cashier and was awarded the Buckley prize (best project of the year).
  • Received the Head of School award.