I am currently a principal research scientist at nuTonomy. Prior to joining nuTonomy, I was a postdoctoral associate at the Singapore-MIT Alliance for Research and Technology (SMART) working on the Future Urban Mobility project under the supervision of Prof. Emilio Frazzoli. I received the Ph.D. degree in Mechanical Engineering from California Institute of Technology in 2010 where my advisor was Prof. Richard Murray. My research spans several areas of control and computer science, including hybrid systems, distributed control systems, formal methods, situational reasoning, robotics and transportation networks.


My research interests lie in the following broad areas:
  • modeling, design and analysis of distributed, real-time, embedded systems (cyber-physical systems)
  • situational reasoning and decision making in complex, dynamic and uncertain environments
  • distributed cooperative control of multi-agent systems
  • autonomous robotic systems
  • transportation networks
Most of my work draws inspiration from practical applications, especially in robotics and transportation. A common thread in my research is a rigorous theoretical study of real-world problems. The projects I'm currently working on at SMART include building low cost autonomous vehicles for mobility on demand systems, developing distributed algorithms for controlling traffic lights and designing transportation pricing strategies to reduce traffic congestion. During my Ph.D., I was involved in the DARPA Urban Challenge, where I led the Systems team for Team Caltech, and the MURI project on Specification, Design and Verification of Distributed Embedded Systems, where my research primarily focused on applying formal methods to the design and verification of embedded control systems.

See the research page for more details.