SUBHADEEP KOLEY                                                                 

Contact : svk324@lehigh.edu   Homepage : subhadeepk.github.io

Google Scholar: https://scholar.google.com/citations?user=_b0J6xoAAAAJ&hl=en

LinkedIn:www.linkedin.com/in/subhadeep-koley-70251b1bb/       Github : github.com/subhadeepk

SUMMARY

• Have 2.5+ years of experience of research in the fields of robotics and UAVs.
• Developed a ROS framework for a decentralized drone swarm that supports leader-follower mode and independent missions, which was used to deploy a swarm of 5 drones at IIT Kanpur
• Developed network monitoring and ROS based congestion control tools for moving mesh networks
• Co-authored a paper on thermal runaway of Lithium-ion batteries that won the best paper award at a conference and a paper on multi-robot pursuit evasion at Conference of Robot Learning (CORL ‘24)

EDUCATION

Lehigh University, Bethlehem, PA                                                                             2024-Present
PhD •  COMPUTER SCIENCE AND ENGINEERING               
Advisor: Dr. David Saldaña                                                            

IIEST(Indian Institute of Engineering Science and Technology), Shibpur                                        2020-2024                                                              BACHELOR OF TECHNOLOGY • MECHANICAL ENGINEERING                                                                                                                                                                                                                                            CGPA : 8.56/10                                                                                            

PUBLICATIONS

1. Yizhuo Wang, Yuhong Cao, Jimmy Chiun, Subhadeep Koley, Mandy Pham, Guillaume Adrien Sartoretti “ViPER: Visibility-based Pursuit-Evasion via Reinforcement Learning”. Conference on Robot Learning 2024 Link
2. Ajit Das, Saumendra Nath Mishra, Subhadeep Koley, Sourav Sarkar, Achintya Mukhopadhyay, Swarnendu Sen: “Early detection of thermal runaway of lithium-ion battery- an experimental study”. IEEE 3rd International Conference on “Sustainable Energy and Future Electric Transportation” Link Best paper award

RELATED EXPERIENCE

PhD student, Swarms Lab, Lehigh University                                                                                 Bethlehem, PA                 
Advisor: Dr. David Saldana                                                                                       November 2024- Present

• Currently working as a TA for CSE 340( Design and analysis of algorithms)
• Winner of Defend the Republic ’24, against 7 other universities including ASU, UMich, Georgia Tech.
• Developed wall avoidance for the robots by integrating an ultrasonic sensor to the existing software and hardware stack

• Built and maintained over 16 robots before and during the competition.
  

Research intern, MARMoT Lab, National University of Singapore                                                                   Remote

Mentor: Dr. Guillaume Sartoretti                                                                               January 2024 – May 2024

• Reinforcement learning based autonomous exploration in multi-agent systems: working on an adversarial search problem where agents try to maintain a zone to prevent enemies from going in. Results were published in CORL’ 24.
  

SURGE research intern, SPIN Lab, Indian Institute of Technology, Kanpur                                Kanpur, Uttar Pradesh

Mentor:  Dr. Ketan Rajawat                                                                                                       May 2023 – August 2023 

• Worked in a team of 10 people on decentralized drone swarms        Project report
• Developed inter-drone collision avoidance algorithms and tested them in Motion Capture Video
• Developed a network monitoring and congestion control tool for mesh networks in drone swarms
• Surveyed and developed ROS based decentralized leader election framework and algorithms
• Developed a ROS framework for swarm missions with leader follower mode and private mission modes  Video

Flight software intern, EndureAir Systems                                                                               Noida, Uttar Pradesh

Mentor : Dr. Kuldeep Kumar Dhiman                                                                                  December 2022 – February 2023

• Worked on and explored the PX4 stack 
• Developed a range extension kit on Matlab for a drop tank with delayed wing deployment Github repo

Undergraduate researcher, IIEST Shibpur                                                                             Howrah, West Bengal

Mentor : Dr. Joydeep Bhowmik                                                                                               May 2022 – February 2024

• Attempted to build a swashplate-less helicopter from scratch.
• Built a wireless data acquisition system for the wind tunnel using ESP8266 and MQTT
• Built a cheap tachometer using line sensor and Arduino Github repo

Research intern, Jadavpur University                                                                                                  Kolkata, West Bengal

Mentor : Dr. Sourav Sarkar                                                                                                    July 2022 – December 2022

• Built a system to simultaneously record temperatures at multiple points on a turntable as a part of a Tata steel funded research project to find cooling rates in rolling mill cooling beds in steel mills. Github repo
• Built a setup for the detection of thermal runaway of lithium-ion batteries using heat and gas sensors that led to a paper that won the best paper award at a conference.
• Reviewed literature on efficient fire detection algorithms and early detection of lean blowout in a combustor and implemented them using Python and OpenCV

PROJECTS

Swashplate-less helicopter                                                                                

Pitch control of helicopter using lag and lead hinges                                                           July 2022 – Present

• Attempted to build the helicopter from scratch. Inspired from Tim Station's video and Research paper
• Used AS5040 magnetic rotary encoder to read the BLDC motor’s shaft angle and send throttle inputs accordingly.
• Designed a base for the motor and a hub on solidworks and got them 3D printed. Photo
• Couldn’t get the main controller loop to work fast enough to accurately send cyclic throttle inputs to the motor to get prominent pitch. Project report
  

ROS based decentralized leader election framework and algorithm        Repository                                

Built for the decentralized drone swarm at SPiN Lab, IIT Kanpur                                                    June 2023 – August 2023

•  A decentralized leader election algorithm has been developed that will allow the swarm to elect a new leader in  the event of leader failure or unavailability.  Page 15 of  Project report 

High performance multi-point wireless temperature acquisition system                                

Tata steel sponsored project at Jadavpur University                                                  July 2022 – September 2022

•  Used Python and Arduino IDE to program the system. System overview         Repository
•  The system is being used to monitor temperature changes in a turntable that simulates a rolling mill cooling bed in a steel plant.

TECHNICAL SKILLS

• Programming Languages:  Python, C/C++                                
• Operating Systems:  Linux, Windows                        
• Stacks and libraries: PX4, OpenCV, Rospy, MoveIt, Pytorch      
• Software:  ROS, Gazebo, CoppeliaSim, MSC Adams, Matlab, Arduino IDE, Solidworks
• Microcontrollers and microprocessors::  ESP32, ATmega328, RaspberryPi 4B

RELEVANT COURSES

        Robotics and mechanics: Modeling and control of Mechanical Systems, Kinematics of Mechanisms and Robots, Elements of helicopter aerodynamics, Dynamics of Machines and Vibrations, Numerical Methods in Engineering, CAD Modelling and Simulation Laboratory, Design of Power Transmission Elements, Design of Frictional Machine Elements, CNC Machining

        Machine Learning and Computer Science: Advanced Algorithms (CSE440), Design and analysis of algorithms(CSE 340), Advanced programming Techniques(CSE 411), Supervised Machine Learning: Regression and Classification, Introduction to Reinforcement Learning, Andrej Karpathy’s Neural Networks: Zero to Hero