ABHISHEK SHARMA
5826 Darlington Rd., Apt. 4, Pittsburgh PA 15217.
Tel: 412-421-2096 (home), Email: abhishek@cs.cmu.edu
Web: http://www-2.cs.cmu.edu/~abhishek
Objective To pursue PhD studies in the field of Computer Vision, Machine learning and Pattern Recognition in a world class research institution.
Education Carnegie Mellon University August 2003 – December 2004
MS Robotics at the Robotics Institute
School of Computer Science
GPA: 4.0/4.0
Advisor: Dr. Howie Choset
IT-BHU (an Indian Institute of Technology (IIT) campus) August 1999 – May2003
Bachelor of Technology in Electronics Engineering
GPA: 8.35/10
Skills
Languages: C/C++, Java, Assembly, Perl, HTML
Software: Matlab, Octave, Mathematica, Maple, SciLab
Libraries: Intel -Image Processing and Computer Vision Library, RhexLib for mobile robots
Robots: Nomad Scout, CyberCab, Pioneer
Experience CMU Biorobotics Lab Research Assistant August 2003 – Present
Supervisor: Dr. Howie Choset
· Designed and implemented Vision-based Localization and Mapping algorithm for mobile robots in
indoor environments, using C, RhexLib on a Nomad Scout robot
· Designed and implemented an algorithm for generating omni-directional video for non-parametric shaped catadioptric vision sensor.
· Supervised an undergraduate intern towards completion of his undergraduate project
Result of the research work is submitted to IEEE International Conference on Robotics and Automation 2005, to be held in Barcelona Spain.
INRIA (European Research Lab) Research Assistant May 2003 – July 2003
Supervisor: Dr. Francois Chaumette
· Designed a modified POSIT algorithm for pose initialization in visual servoing using C++.
· Proved the minimal four point criteria for robust pose initialization in visual servoing.
· Proved the existence of local minima problem in visual servoing for non-coplanar points.
· Implemented solution on a CyberCab and obtained successful results (www.cs.cmu.edu/~abhishek/demos.html)
CNRS (French, Robotics and AI Lab) Research Assistant May 2002 – July 2002
Supervisor: Dr. Patrick Danes
· Designed and implemented a visual controller using bi-quadratic stability theory for non-linear time varying systems, using Convex Optimization toolbox in Matlab.
IMARA (European Car Project) Programming Intern May 2002 – July 2002
Supervisor: Dr. Michel Parent
· Implemented an Adaptive Cruise Control algorithm in stop-and-go mode, using Java
Control and Dynamical Systems, CALTECH Independent Research May 2002- March 2003
Supervisor: Dr. Jerrold Marsden
• Theoretical study of generating optimal trajectories for micro- satellite formation flight.
• Proposed a receding horizon control based algorithm using mixed integer linear programming to generate
the non-linear trajectories for micro-satellite formation flight.
Projects Computer Vision, Machine Learning, Control Systems, Image Processing, Semiconductors, Data Structures, Optical Electronics, CPU Design.
Courses Computer Vision, Signals and Systems, Motion Planning, Machine Learning, Stochastic Processes, Kinematics and Control, Digital Signal Processing, Computer Architecture, Control Systems, VLSI and LSI design, Signal and System, Semiconductor Devices.
Honors
§ Graduate Fellowship from CMU Robotics Institute.
§ Top 1% in IIT-JEE Entrance Exam.
§ Secured highest marks in. Mathematic and Physics in Intermediate(12 Standard) CBSE board in 1998 out of 1 Million student appeared
§ Selected for Ministre de Education, France Summer Fellowship program - 2002.
§ Represented the BHU in ACM collegiate programming contest at South-Asia level in 2002
§ Awarded merit-cum-means UGC scholarship from 1999 to 2003 during undergraduate.
Presentations:
· Natural landmarks for autonomous SLAM in large indoor environments.
Center of Foundation for Robotics seminar series at Carnegie Mellon University (MS talk)
· Another Modification in K-Means Algorithm in Vector Quantizer Design.
EAIT (International Conference on Energy Automation and Information Technology) IIT –Kharagpur, India, 10th Dec 2001.
· An Example of a Plant having no Poles yet unstable.
CIIC (International Conference on Control and Communication), Calcutta, India, 12th Dec 2001.
· Design of Stabilzed Controller and Observer for Uncertain Linear Systems with Time-Varying Delay
10th Mediterranean Conference on Controls and Automation, Portugal, 10th July 2002
· Constrained Trajectory generation from Micro-Satellite Formation Flight using Optimal Control
Dept. of Electronics Engineering, IT-BHU, Sep 2002 (Bachelor thesis talk)
Publications: Attached as a separate list, with abstracts
Reference:
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Dr. Howie Choset Professor of Mechanical Engineering, Robotics, Electrical and Computer Engineering. Carnegie Mellon University, Pittsburgh, PA, USA http://voronoi.sbp.ri.cmu.edu/~choset email: choset@cs.cmu.edu
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Dr. Martial Hebert Professor of Robotics and Computer Science. Carnegie Mellon University. Pittsburgh, PA, USA http://www-2.cs.cmu.edu/~hebert email: hebert@ri.cmu.edu
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Dr. Michel Parent Leader IMARA research group INRIA, Rocquencourt, France http://www.lara.prd.fr/Michel.htmlemail: Michel.Parent@inria.fr
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Dr. Francois Chaumette Leader LAGADIC (formerly part of VISTA) INRIA, Rennes http://www.irisa.fr/lagadic/team/Francois.Chaumette-eng.html email: Francois.Chaumette@irisa.fr
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Dr. George Kantor Research Scientist, The Robotics Institute Carnegie Mellon University, Pittsburgh, PA, USA http://www.ri.cmu.edu/~kantor email: kantor@ri.cmu.edu
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Dr. Jerrold E. Marsden Professor of Control and Dynamical System Caltech, Pasadena, CA, USA http://www.cds.caltech.edu/~marsden email: marsden@cds.caltech.edu |
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Dr. Patrick Danes Researcher at RIA, LAAS, CNRS, Toulouse, France Email:Patrick.Danes@laas.fr
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Dr. Shyam. Kumar. Nagar Professor of Electrical Engineering. Institute of Technology, Banaras Hindu University, Varanasi, India Email: sknagar@banaras.ernet.in
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