Prasanth Kotaru
Software Engineer, Motion Control, Waymo LLC
Education
Ph.D., Mechanical Engineering, University of California, Berkeley, CA, 2022
Dissertation: Dynamics and Control for Collaborative Aerial Manipulation
M.S., Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, 2017
B.Tech., Mechanical Engineering, Indian Institute of Technology, Madras, India, 2014
Research Interests
I specialize in developing control and estimation algorithms for autonomous systems, with expertise spanning autonomous vehicles, robotics, and multi-agent systems. My work combines classical control theory with modern machine learning and AI techniques to build robust, scalable solutions. Currently, I focus on creating fleet-wide control tools, state observers, and detection systems that enhance safety and performance across entire autonomous vehicle fleets. Previously, I researched nonlinear control strategies and collaborative systems for aerial robotics, developing methods for safe multi-robot coordination and manipulation.
Autonomous Vehicle Control
Fleet-wide control systems, state estimation, and ML/AI-driven safety tools for autonomous driving.
Multi-Aerial Collaborative Manipulation
Nonlinear control and coordination algorithms for safe multi-robot aerial systems and payload transport.
Publications
Dynamics and Control for Collaborative Aerial Manipulation
Prasanth Kotaru
PhD Dissertation
Tethered Power for a Series of Quadcopters: Analysis and Applications
Karan P. Jain*, Prasanth Kotaru, Massimiliano de Sa, Koushil Sreenath, Mark W. Mueller
arXiv
Differential Flatness based Path Planning with Direct Collocation on Hybrid Modes for a Quadrotor with a Cable-Suspended Payload
Jun Zeng, Prasanth Kotaru, Mark Mueller, Koushil Sreenath
IEEE Robotics and Automation Letters (RA-L)
Geometric Lā Adaptive Attitude Control for a Quadrotor Unmanned Aerial Vehicle
Prasanth Kotaru, Ryan Edmonson, Koushil Sreenath
ASME Journal of Dynamic Systems, Measurement, and Control
Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control
Prasanth Kotaru, Koushil Sreenath
IFAC World Congress
Ball Juggling on the Bipedal Robot Cassie
Katherine L. Poggensee*, Albert H. Li*, Daniel Sotsaikich*, Bike Zhang, Prasanth Kotaru, Mark Mueller, Koushil Sreenath
European Control Conference (ECC)
Variation Based Extended Kalman Filter on SĀ²
Prasanth Kotaru, Koushil Sreenath
European Control Conference (ECC)
Geometric Control and Differential Flatness of a Quadrotor UAV with Load Suspended from a Pulley
Jun Zeng, Prasanth Kotaru, Koushil Sreenath
American Control Conference (ACC)
Differential-Flatness and Control of Quadrotor(s) with a Payload Suspended through Flexible Cable(s)
Prasanth Kotaru, Guofan Wu, Koushil Sreenath
Indian Control Conference (ICC)
Dynamics and Control of a Quadrotor with a Payload Suspended through an Elastic Cable
Prasanth Kotaru, Guofan Wu, Koushil Sreenath
American Control Conference (ACC)