I am a Postdoctoral Research Associate at Princeton University working at the intersection of robotics, control theory, neuromorphic decision-making, and game theory. My research asks how individual robots and teams can think and act simultaneously, forming fast, reliable decisions as they move and interact with the physical world and one another. I develop interpretable dynamical models of embodied decision formation and translate them into decentralized, resource-aware controllers that rely solely on local information, without explicit communication. These controllers shape fluid, goal-directed behavior in heterogeneous collectives of robots, people, and other interacting agents while providing mathematical guarantees of safety and task success in uncertain, dynamic, and social environments. I am currently working with Prof. Naomi Leonard at Princeton. I did my PhD at Cornell University with Prof. Hadas Kress-Gazit, and my Bachelor's and Master's in Aerospace Engineering at IIT Bombay. Outside of research, I enjoy running, hiking, and reading about world affairs, psychology, and philosophy of science.
I study how robots can make fast, reliable, and provably safe decisions when sensing, computation, communication, or actuation are limited. My work combines control theory, nonlinear dynamics, and collective intelligence to develop decentralized decision-making and control frameworks that are both mathematically grounded and deployable on real robotic systems.
Decentralized, game-theoretic, and neuromorphic control for scalable environment monitoring in resource-constrained robot teams.
Safe, scalable, and deadlock-free multi-robot navigation through continuous adaptation and local interaction rules.
Provably safe aerial motion planning under uncertainty, limited computation, and complex workspace constraints.
Control, estimation, and modeling for distributed spacecraft systems, autonomous navigation, and propulsion.
Provably correct decentralized control for robot swarms with no memory, no communication, and no localization.
Micrometer-scale origami robots that fold into 3D shapes, locomote in solution, and are controlled by surface electrochemical actuators.
Reactive task and motion planning using object affordances, feasibility checks, and tool substitution — demonstrated on a Stretch robot.
Advised students are marked with † and equal contributions with *.