Basit MuhammaD imran
Controls and Robotics Engineer
Ph.D. Candidate at Virginia Tech
Hybrid Dynamic Systems and Robot Locomotion Lab (HDSRL)
Blacksburg, USA.
Email: basit@vt.edu
My Introduction
Summary
Hello, I am Basit. Currently, I am a Ph.D. Candidate in Mechanical Engineering department at Virginia Tech (USA) working on Coordination, Planning, and control of Multi-Agent Quadrupedal Legged Robots. My research interests lie in Control Theory, Trajectory Optimization, Planning and Autonomy, Reinforcement Learning, and Robotics. My previous projects and work span diverse robotic platforms such as UGVs, UAVs, Robotics Manipulators, and now Quadrupedal Robots.
My Active Projects and Research
My ongoing project involves control, coordination, and planning for Multi-Agent quadrupedal robots using trajectory planning and Model Predictive Control. I am also working to implement this on actual hardware using multiple Unitree A1 Robots.
My Previous Works
In my previous works: I have worked on autonomy and planning of UAVs, control synthesis of bipedal planar robots using Hybrid Zero Dynamics and IO-linearizing nonlinear control, Attitude Estimation using sensor fusion and Extended Kalman Filter for a Quadcopter UAV, System ID, LQR controller design for a plant with unknown dynamics, and Adaptive Control design for flutter suppression of Aircraft Wing Section.
My undergraduate degree is in Mechatronics Engineering, and I have spent a significant amount of time working on actual hardware and embedded programming. My other skills include PCB Design, Assembly Programming, Electrical interfacing, Sensor Fusion, and Estimation. My side interests include Perception, Computer Vision, and AI.
Publications
[C1] M. H. Tanveer, H. Zhu, W. Ahmed, A. Thomas, B. M. Imran and M. Salman, "Mel-spectrogram and Deep CNN Based Representation Learning from Bio-Sonar Implementation on UAVs," 2021 International Conference on Computer, Control and Robotics (ICCCR), 2021, pp. 220-224, doi: 10.1109/ICCCR49711.2021.9349416
[C2] M. H. Tanveer, M. Sabbagh, A. Thomas, B. M. Imran and M. H. Soomro, "RNN and Mel-spectrogram based acoustic balancing and bouncing of ping pong ball," 2020 International Conference on Computing, Networking, Telecommunications & Engineering Sciences Applications (CoNTESA), 2020, pp. 16-20, doi: 10.1109/CoNTESA50436.2020.9302849
[C3] D. Ahmed, W. Shahid Qureshi, S. Arsalan Aijaz, B. M. Imran, S. Manshoor Ali Naqvi and C. -Y. Lin, "Towards Selfie Drone: Spatial Localization and Navigation of drone Using Human Pose Estimation," 2021 International Conference on Robotics and Automation in Industry (ICRAI), 2021, pp. 1-7, doi: 10.1109/ICRAI54018.2021.9651330
Teaching and Mentoring Experience
GTA for Industrial Electronics ECE3254
Served as Mentor for new incoming students in the Mechanical Engineering graduate program at Virginia Tech
more at LinkedIn
My Research interests
OPTIMIZATION CONTROL PLANNING TRAJECTORY OPTIMIZATION PERCEPTION COORDINATION MULTI-AGENT SYSTEMS
MY COMPETENCIES
Programming
C/C++
Python
Bash
MATLAB
Simulation
MATLAB/ Simulink
Python
Gazebo
Control
Classical Control (e.g. PID)
Nonlinear Control
Adaptive Control
Model Predictive Control
Estimation/ Sensor Fusion
Kalman Filter
Extended Kalman Filter
Complimentary Filter
Electronics
PCB Design (Eagle, Altium, Proteus)
Embedded Systems
Assembly Programming
ARM, PIC, Raspberry Pi
AI and Learning
Reinforcement Learning (Gym)
Machine Learning
Perception and Computer Vision
Projects and research
path Planning and CONTROL of KINOvA ARM
Path Planning and Control for the 3rd Gen Kinova Arm model
Equations of motions obtained using Euler-Lagrance method
Autonomous Robotics project
National Engineering and Robotics Contest - Pakistan
Led a team of 6 members to develop an autonomous robot for participation in a nationwide theme competition. Our team manufactured the robot from scratch, including the electronics and mechanical structures. Power management modules and embedded electronics were designed by me and fabricated by hand using university facilities.
Our team stood in the top 8 in the nationwide contest among more than 150 competing teams.
Won "Best Engineering Design" Award on this project.

Adaptive IO LInearizing control for wing section flutter suppression
Reproduced results of [1] using IO-linearizing adaptive controller for aircraft wing section flutter suppression using a trailing edge actuator. Simulations were done in MATLAB and it was shown that IO-linearzing controller outperformed MRAC controller for the same system under same conditions.
[1] Ko, J., Strganac, T.W. & Kurdila, A.J. Adaptive Feedback Linearization for the Control of a Typical Wing Section with Structural Nonlinearity. Nonlinear Dynamics 18, 289–301 (1999). https://doi.org/10.1023/A:1008323629064
My curriculum vitae

For further reference, here's my CV