Rohan Inamdar

Quadrotor Controls Research Intern @Anduril Industries

Worcester County, MA, US

Implemented Incremental Nonlinear Dynamic Inversion (INDI) in PX4’s C++ RTOS firmware and linked it to a dual-quaternion NMPC via ROS2, achieving stable flight at 20 m/s in cluttered environments (vs 12 m/s with PID)Developed firmware-ROS2 interfaces to bridge embedded flight control and high-level trajectory optimization, enabling real-time closed-loop integration between PX4 and Python-based NMPCAdvanced ongoing research by integrating a stereo event camera with event-to-depth ESDF mapping and ROS 2 Fast Planner, targeting agile autonomous navigation through clutterBuilt and validated a 34 m/s quadrotor platform (Jetson Orin NX, Pixhawk, 6S LiPo) to support the lab’s high-speed autonomy research