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<!DOCTYPE HTML>
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<html>
<head>
<title>Harsh Mahesheka</title>
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1, user-scalable=no" />
<link rel="stylesheet" href="assets/css/main.css" />
</head>
<body class="is-preload">
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<div id="wrapper">
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<div id="main">
<div class="inner">
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<header id="header">
<a href="index.html" class="logo"><strong>Harsh Mahesheka</strong></a>
<ul class="icons">
<li><a href="https://twitter.com/MaheshekaHarsh" class="icon brands fa-twitter"><span class="label">Twitter</span></a></li>
<li><a href="https://www.linkedin.com/in/harsh-mahesheka-ab0725212/" class="icon brands fa-linkedin"><span class="label">Linkedin</span></a></li>
<li><a href="https://github.com/harshmahesheka" class="icon brands fa-github"><span class="label">Github</span></a></li>
</ul>
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<!-- Banner -->
<section id="banner">
<div class="content">
<p align="justify">
<strong> I am senior undergraduate of Electrical Engineering at Indian Institute of Technology (BHU), Varanasi with minor in Computer Science Engineering. I am currently working under Dr. Abhinav Valada at University of Freiburg. Previously, I have worked at Open Robotics under Google Summer of Code Programs and under Dr. Madhav Krishna at Robot Research Center, IIIT Hyderabad </strong>
</p>
<p>The desire to build robust and adaptive autonomous systems that can work alongside humans to solve complex real-world tasks motivates me to study robotics. My research usually focuses more on <b>Reinforcement Learning</b>, <b>Computer Vision</b> and <b>Robotics</b>. Besides trying to make robots work, I enjoy clash of arguments in the form of debates.</p>
<ul class="actions">
<li><a href="CV_Harsh.pdf" class="button big">C.V.</a></li>
<li><a href="https://www.linkedin.com/in/harsh-mahesheka-ab0725212/" class="button big">Linkedin</a></li>
<li><a href="https://github.com/harshmahesheka" class="button big">Github</a></li>
</ul>
<header class="major">
<ul class="contact">
<li class="icon solid fa-envelope"><p>[email protected]</p></li>
</ul>
</div>
<span class="image object">
<img src="images/me1.jpg" alt="" height="500" width="300"/>
</span>
</section>
<!-- Section -->
<section id="news">
<header class="major">
<h2>News</h2>
</header>
<ul>
<li><b>[Aug 2023]</b> : Presented my Houshold Bot Project at G20 Summit at Varanasi, India.</li>
<li><b>[May 2023]</b> : Started Research Internship at Robot Learning Lab, University of Freiburg.</li>
<li><b>[Feb 2023]</b> : Got nominated for DAAD WISE Scholarship and IUSSTF-Viterbi India Program.</li>
<li><b>[June 2022]</b> : Appointed as Secretary of Robotics Club, IIT BHU.</li>
<li><b>[May 2022]</b> : Started Research Internship at Robotics Research Center, IIIT Hyderabad.</li>
<li><b>[May 2022]</b> : Got Selected for Google Summer of Code Program at Open Robotics. </li>
<li><b>[March 2021]</b> : Stood first in Robotics Conclave and Scientist of Utopia at Technex (Annual Technical Fest of IIT BHU).</li>
<li><b>[Nov 2020]</b> : Started Integrated BTech + Mtech in Electrical Engineering at IIT BHU</li>
</ul>
</section>
<!-- Section -->
<section id="Experiences">
<div class="icra_image">
<div>
<header class="major">
<h2>Experiences</h2>
</header>
<h3> Robot Learning Lab, University of Freiburg</h3>
DAAD-WISE Research Internship Under <a href="https://rl.uni-freiburg.de/people/valada">Dr. Abhinav Valada </a><br><br>
<p>
Developed an RL-based planner to generate base velocities for mobile manipulators, enabling them to achieve end-effector
goal poses provided by teleoperator. Utilized the planner to streamline the collection of demonstations for kinesthetic learning.
Also, Created an interface that enables the use of the HSR robot with the Nvidia Issac simulator for training and testing Deep Reinforcement Learning planners.
</p>
<h3> Robotics Research Center, IIIT Hyderabad</h3>
Research Internship Under <a href="https://www.iiit.ac.in/people/faculty/mkrishna/">Dr. K. Madhava Krishna</a><br><br>
<p>
Worked on RL-based Global Planner trained to reduce localisation drift by avoiding symmetric or featureless areas. Created platform
for training and testing DRL global planners on ROS-compatible simulations. Also, worked on grounding waypoints on annotated maps by
analyzing complex language commands in Indoor Environment.
</p>
<h3> Google Summer of Code - Open Robotics</h3>
Student Developer at <a href="https://www.openrobotics.org/">Open Robotics</a> <br><br>
<p>
Created tool for generating template packages for gazebo simulato and macros for installing and sourcing worlds, models, plugins etc. in
gazebo robotics simulator. These tools were designed to streamline the process of creating and deploying new packages,
making it easier for researchers and developers to build and test their robotic systems.
</p>
</div>
</div>
</section>
<!-- Section -->
<section id="projects">
<header class="major">
<h2>Projects</h2>
</header>
<div class="posts">
<article>
<a href="mp_bot.html" class="image"><img src="images/mphb.gif" alt="" /></a>
<h3>Multi-Purpose Household Robot</h3>
<p>Fabricated a ground robot to perform household chores and baby care.</p>
<ul class="actions">
<li><a href="https://github.com/harshmahesheka/Multi-Purpose-HouseHold-Bot" class="button">Code</a></li>
<li><a href="report/mp_bot.pdf" class="button">Report</a></li>
</ul>
</article>
<article>
<a href="dot-wheelchair.html.html" class="image"><img src="images/flipkart.gif" alt="" /></a>
<h3>Multi-Agent Pick Up and Delivery System</h3>
<p>Designed and fabricated Omni-directional ROS-based mobile robot for warehouse delivery.</p>
<ul class="actions">
<li><a href="https://github.com/Robotics-Club-IIT-BHU/Dot-Bot" class="button">Code</a></li>
<li><a href="dot-bot.html" class="button">Webpage</a></li>
</ul>
</article>
<article>
<a href="wheelchair.html" class="image"><img src="images/wheelchair.gif" alt="" /></a>
<h3>Autonomus Wheelchair</h3>
<p>Implemented autonomus navigation on a physical wheelchair in indoor environment.</p>
<ul class="actions">
<li><a href="wheelchair.html" class="button">Webpage</a></li>
</ul>
</article>
<article>
<a href="#" class="image"><img src="images/drona.png" alt="" /></a>
<h3>UAV Control and Swarming</h3>
<p>Cascaded PID-based control and swarm motion of drones.</p>
<ul class="actions">
<li><a href="https://github.com/Robotics-Club-IIT-BHU/Drona_Aviation_Pluto_Swarm_Challenge" class="button">Code</a></li>
<li><a href="https://drive.google.com/file/d/1MfTUgXobM4bYxJc3moGjneKoeCTwPCv5/view?usp=sharing" class="button">Report</a></li>
</ul>
</article>
<article>
<a href="#" class="image"><img src="images/uav_ugv.gif" alt="" /></a>
<h3>UAV Guided UGV Navigation</h3>
<p>UAV aided mapping and localization for a UGV to autonomously traverse in mountainous terrains.</p>
<ul class="actions">
<li><a href="https://github.com/phoenixrider12/DRDO-UAV-Guided-UGV-Navigation" class="button">Code</a></li>
<li><a href="https://docs.google.com/presentation/d/1wgCw-pj4WYZ1QgIoMBwp1pqgJasY5RpXskZN9Sr_edU/edit?usp=sharing" class="button">Report</a></li>
</ul>
</article>
<article>
<a href="https://harshmahesheka.github.io/jerbot.html" class="image"><img src="images/jerbot.gif" alt="" /></a>
<h3>JerBot – a bio-mimetic bipedal robot</h3>
<p>Formulated an alternate design for biped locomotion, mimicking Jerboa.</p>
<ul class="actions">
<li><a href="https://github.com/RaISy-Net/JerBot" class="button">Code</a></li>
<li><a href="https://robotics-club-iit-bhu.github.io/RoboReG/projects/jerbotbeta.html" class="button">Webpage</a></li>
</ul>
</article>
<article>
<a href="csa.html" class="image"><img src="images/csa.gif" alt="" /></a>
<h3>Cutlery Sorting Arm</h3>
<p>ROS integrated 4 DOF robotic arm, for sorting Cutlery.</p>
<ul class="actions">
<li><a href="https://github.com/ntu-maerc/a1-AY2122Sem1" class="button">Code</a></li>
<li><a href="csa.html" class="button">Webpage</a></li>
</ul>
</article>
<article>
<a href="https://github.com/gazebosim/gz_pkg_create" class="image"><img src="images/package_create.png" alt="" /></a>
<h3>Package creation tool</h3>
<p>Tool for creating starter packages for gazebo simulator.</p>
<ul class="actions">
<li><a href="https://github.com/gazebosim/gz_pkg_create" class="button">Code</a></li>
<li><a href="https://github.com/gazebosim/gz_pkg_create/blob/main/TUTORIALS.md" class="button">Tutorial</a></li>
</ul>
</article>
</div>
</section>
</div>
</div>
<!-- Sidebar -->
<div id="sidebar">
<div class="inner">
<!--
Search
<section id="search" class="alt">
<form method="post" action="#">
<input type="text" name="query" id="query" placeholder="Search" />
</form>
</section> -->
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<nav id="menu">
<header class="major">
<h2>Menu</h2>
</header>
<ul>
<li><a href="index.html">Homepage</a></li>
<li><a href="#news">News</a></li>
<li><a href="#Experiences">Experiences</a></li>
<li><a href="#projects">Projects</a></li>
</ul>
</nav>
<!-- Section -->
<section>
<header class="major">
<h2>Contact Me</h2>
</header>
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<ul class="contact">
<li class="icon solid fa-envelope">[email protected]</li>
<li class="icon solid fa-phone">+91 9470292105</li>
</ul>
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<p class="copyright">© Harsh Mahesheka. All rights reserved.</p>
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