chitiiran@hotmail.

com
Chitiiran Krishna Moorthy 647-467-5175
github.com/Chitiiran
Quick learner with experience in C/C++, Artificial Intelligent and path planning

Work Experience
Infinium Robotics – Mechatronics Engineer Singapore 2014-2017
A startup providing autonomous solutions in robotics and Unmanned Aerial Systems [UAS]
• Autopilot board development for Unmanned Aerial Vehicle
• Designed multi-layered PCBs for autonomous UAV navigation in GPS-denied
environment microcontroller and peripherals (I2C & UART) [C&C++].
• Upgraded path planning control system architecture to include emergency
protocols for sensor failures by writing code in [C&C++].
• Electromechanical & Control System design for multi-agent Ground Control Station
• Designed CAD, 3D printed and prototyped Control Station [Solidworks, Cura]
• Developed a portable control station for drone fleet. Adapted ground control
station to work with a chargeable battery system.
• Autonomous Navigation & Path Planning Algorithm for Unmanned Aerial Vehicle
• Developed real time perception algorithm using monocular vision , sonar, 6 DoF
IMU & 2D LiDAR by implementing sensor fusion with Kalman Filter.
• Wrote navigation algorithm for UAV to autonomously traverse in GPS-denied
environment via A* algorithm.
• Multi-dimensional motion planning for autonomous vehicle with collision
avoidance, minimal down time and quickest warehouse coverage

Education
M.Sc in Space Engineering Lassonde School of Engineering, Toronto 2018-2019
Supervisor: Dr. Regina Lee, Associate Dean – Research & Graduate Studies.
Sub-orbital Payload and Research Centre, S.P.A.R.C Lab.
• Thesis: Control Moment Gyroscope Cluster and Steering Law, a comparison study
between CMG clusters and Steering Laws for different space missions. Static and
dynamic analysis of CMG in Matlab & Simulink for Control System trade-off studies.

Notable projects
Image processing and automated string weaver [String Art]
AI Project: Wrote Deep Q-Networks based Machine Learning agent in Python.
• Developed Reinforcement Learning Agent from scratch to control an inverted pendulum
on a mobile robot.
• The artificial intelligent was deployed on the cart-pole game environment from OpenAI’s
gym and successfully stabilizes the inverted pendulum cart system

Computer vision & mechatronic: Developed Matlab program which converts images into
coordinates of lines. The output is used in automated string weaver to produce physical
representation of the digital image.
• The project converts raster images into vectors that an automated frameworks can use as
input to assign motor control signals for weaving actuators (e.g stepper motor & servo)