Indy Autonomous Challenge

Controls Team lead for Caltech Autonomous Systems and Technologies (CAST) Racer, participating in the Indy Autonomous Challenge, pushing the envelope for fully-autonomous racecars. CAST Racer joined the competition in September 2024, and competed at the Las Vegas Motor Speedway at CES 2025, achieving top speed of 155.7 mph - a major achievement in just 25 days of total track time.

Formulated and implemented robust throttle, brake, gear, and steering control law with minimal cross track error, proven up to 65 m/s. The longitudinal controller utilizes online adaptation scheme leveraging tire slip estimation. Implemented various safety features including failure detection and robust E-stop behavior, and traction control.

Software development with extensive use of ROS 2 framework and tools, C++, Matlab/Simulink system ID tools, Git version control. Field robotics and ops, with cross-function collaboration with perception, localization, planning, hardware teams.

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