Aswin D Menon
I am a graduate student at the University of Michigan, Ann Arbor, pursuing an MS degree in Aerospace Engineering. My interests lie in Robotics, Safety-Critical Control Systems, Autonomous Systems, and Motion Planning & Navigation.
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Who I am
I'm Aswin D Menon, a graduate student at the University of Michigan, Ann Arbor, pursuing an MS in Aerospace Engineering. My research, conducted at the Distributed Autonomous Systems and Control (DASC) Lab under Prof. Dimitra Panagou, focuses on safety-critical control for autonomous multi-robot systems — spanning backup safety filters (Backup CBF, MPS, gatekeeper), perception-limited exploration (SEAMLiS), and event-triggered algorithms that reduce computational cost while preserving safety guarantees. I am also interested in motion planning, autonomous navigation, and applying advanced control theory to real robotic platforms. I am committed to pushing the frontiers of safe, intelligent autonomy through rigorous research and innovative design.
Skills
What I'm good at
- Python
- C
- MATLAB
- Arduino
- ROS / ROS2
- Gazebo
- RViz
- IPG CarMaker
- dSPACE ControlDesk
- MATLAB / Simulink
- Fusion 360
- Pix4Dmapper
- LaTeX
- Visual Basic
Education
Where I've studied
Master of Science in Engineering (2025 to Present)
in Aerospace Engineering
University of Michigan, Ann Arbor | CGPA: 4.0 / 4.0 (current) | Expected 2027
Coursework
- Model Predictive Control
- Online Learning for Control
- Motion Planning and Control
- Non-Linear Systems and Control
- Navigation and Guidance of Aerospace Vehicles
- Intermediate Dynamics
Bachelor of Technology (2021 to 2025)
in Aerospace Engineering
Indian Institute of Technology, Kharagpur | CGPA: 8.77 / 10
Coursework
- Automatic Control of Aircraft
- Flight Stability and Control
- Space Dynamics
- Introduction to Flight Vehicle Controls
- Mechanics of Flight
- Motion Planning and Control
- Embedded Control Systems
- Systems Laboratory
- Robotics
- Introduction to Helicopter Engineering
- Dynamics for Aerospace Engineer
Experience
Where I've worked
Graduate Research | Distributed Autonomous Systems and Control Lab
Prof. Dimitra Panagou | September 2025 – Present
1. Comparative Review of Backup Safety Filters
- Conducted a unified comparative analysis of Backup Control Barrier Functions (CBFs), Model Predictive Shielding (MPS), and gatekeeper safety filters, formulating theoretical proofs that explicitly connect their filter-inactive sets.
- Architected reach-avoid and dynamic highway overtake simulation scenarios to benchmark failure modes and evaluate the conservatism of each backup policy.
2. SEAMLiS — Perception-Limited Multi-Robot Exploration
- Helped in development of the SEAMLiS modular safety framework to guarantee collision-free decentralized multi-robot exploration under finite sensing ranges and limited fields of view.
- Implemented the algorithmic architecture and designed randomized multi-robot simulation scenarios to rigorously benchmark collision avoidance and coverage efficiency against standard visibility-promoting baselines.
3. Event-Triggered Gatekeeper (ET-GK)
- Engineered the Event-Triggered Gatekeeper (ET-GK) algorithm, introducing a computationally lightweight trigger metric to bypass expensive online switching-time validations while strictly preserving recursive feasibility.
- Designed unicycle robot navigation simulations in cluttered environments to validate the algorithm, successfully proving a 64% reduction in mean computational time compared to standard time-triggered approaches.
Engineering Intern | ADAS Features Algorithm Development Team
Magna Electronics Inc. | May 2026 – August 2026
- Optimized the velocity controller of the Trained Parking Assist (TPA) feature utilizing in-vehicle testing and log analysis.
- Improved the curvature-based slowdown of the ACC velocity controller and validated the behavior in CarMaker simulations.
- Integrated the TPA model with other low-speed features and validated back-to-back feature behavior in vehicle & simulation.
Undergraduate Research | Unmanned Aerial Vehicles Lab
Prof. Sikha Hota | August 2024 – July 2025
- Implemented Biased PNG, Two-Stage PNG, and Time-to-go Polynomial Guidance laws for 2D missile interception scenarios considering acceleration and FOV constraints.
- Adapted multi-planar guidance laws for 3D interception, successfully eliminating lateral acceleration profile discontinuities.
- Designed a 2-planar 3-Staged 3D Impact Angle Control Guidance (IACG) law capable of achieving any terminal impact direction.
Research Intern | RWR&DC
Hindustan Aeronautics Ltd | May 2024 – July 2024
- Analyzed the AFCS (Automatic Flight Control System) and actuator mechanisms of a semi-autonomous helicopter.
- Integrated Pitt-Peters dynamic inflow model into the helicopter dynamics simulator to improve transient response predictions.
- Validated simulation results against flight test data for collective dump inputs, identifying areas for future development.
Summer Intern | Aircraft Division
Hindustan Aeronautics Ltd | June 2023
- Gained hands-on exposure to processes from machining to final assembly of various Hawk, Jaguar, and LCA Tejas aircrafts.
- Acquired in-depth knowledge of system integration through immersive training in aircraft hangars and production facilities.
Projects
What I've done
Academic Project | Model Predictive Control
Prof. Ilya Kolmanovsky | Jan 2026 – April 2026
- Engineered a constrained MPC using a dual projected gradient QP solver to achieve offset-free yaw rate tracking for vehicles.
- Integrated soft constraints via slack variables to ensure robust control performance against simulated plant-model mismatches.
Academic Project | Nonlinear Control of an Inverted Pendulum
Prof. Inigo Incer | Jan 2026 – April 2026
- Engineered a full-state feedback controller for a nonlinear underactuated system using dimensionless state transformations.
- Implemented a Luenberger observer-based dynamic compensator to estimate velocities and to verify closed-loop stability.
Unitree Go2 High-Speed Trajectory Controller
Dimensional OS (Open Source) | Feb 2026
- Upgraded the control architecture from a 10 Hz reactive model to a 100 Hz setup with a ROS adapter for high-speed tracking.
- Designed an adaptive Pure Pursuit and PID Cross-Track controller alongside a novel velocity profiler to stop lateral drifts.
Academic Project | Online Learning for Control
Prof. Vasileios Tzoumas | Sep 2025 – Dec 2025
- Implemented an adaptive SSI-MPC in ROS2 utilizing Recursive Least Squares and predictors for unknown UAV dynamics.
- Integrated Acados-based solvers in a Gazebo SITL for high-speed multi-drone trajectory tracking against wind disturbances.
Academic Project | Aerospace Navigation and Guidance
Prof. Giusy Falcone | Sep 2025 – Dec 2025
- Engineered a discrete-time Kalman Filter for accurate state estimation under Gaussian process and measurement noise.
- Designed a computationally efficient pursuit guidance law for dynamic target interception in a high-speed engagement case.
Aerial 2D Mapping and Estimation of Forest Area Cover
Prof. Sandeep Saha | Jan 2024 – Apr 2024
- Automated semantic segmentation and large-scale environmental perception via a U-Net CNN utilizing aerial drone imagery.
- Constructed maps from telemetry in Pix4Dmapper; applied EDSR to generate Digital Surface Models to estimate elevation.
Aerial Carbon Emission Monitoring System
Prof. Srinibas Karmakar | Aug 2023 – Nov 2023
- Designed a drone-deployed embedded payload with MQ7 and MQ135 sensors, utilizing nRF24L01 for real-time RF telemetry.
- Developed an ascent time trajectory algorithm and altitude state estimation via BMP280 and dynamic atmospheric models.
CFD Analysis of Sports Ball Aerodynamics
Prof. Sunil Manohar Dash | Jan 2024 – Apr 2024
- Simulated flow around golf ball & basketball (with & without spin) in ANSYS Fluent and analyzed aerodynamic coefficients.
- Investigated dimple effects on golf ball aerodynamics by varying size parameters and Magnus effect on basketball's trajectory.
Design and Analysis of a Quad-Wing Flapping Prototype
Prof. Sandeep Saha | Aug 2023 – Nov 2023
- Designed and built a dragonfly-inspired quad-wing flapping prototype with a gear-slider mechanism for variable wing phase.
- Integrated a passive joint to allow wing rotation for realistic lift generation and conducted smoke visualization experiments.
- Gauged force changes with varied wing beat frequencies and front-wing-hind-wing phase differences using precision sensors.
- Analyzed spanwise and chordwise wing flexibility effects on lift using 3 different wing materials, utilizing a high-speed camera.
Qualitative Study on Worthington Jets
Prof. Sandeep Saha | Mar 2023 – Apr 2023
- Experimentally investigated the effects of hydrophobicity, impact velocity, and sphere size on Worthington jet characteristics.
- Captured high-frame-rate video recordings to observe the surface closure phenomenon and recreated the Manu bomb effect.
Smart Irrigation System
Prof. Manjunatha Mahadevappa | Feb 2022 – Mar 2022
- Implemented an automated irrigation system using Arduino, optimizing water usage based on soil moisture and temperature.
- Integrated and calibrated moisture sensor, LM35, and a water pump; developed embedded software to control irrigation.
Publications
What I've published
- T. Kim, A. D. Menon, A. Trivedi, and D. Panagou, "Backup-Based Safety Filters: A Comparative Review of Backup CBF, Model Predictive Shielding, and gatekeeper," arXiv preprint arXiv:2604.02401, 2026. [arXiv]
- T. Kim, R. H. Kumar, A. D. Menon, T.-H. Lin, and D. Panagou, "SEAMLiS: Visibility-Aware Safety for Perception-Limited Multi-Robot Exploration," arXiv preprint arXiv:2607.09959, 2026. [arXiv]
- N. K. Singh, S. Pal, A. D. Menon, and S. Hota, "Impact Angle Constrained Guidance Laws for Stationary Target Interception in 3D Space," in AIAA SCITECH 2026 Forum, 2026, p. 2348.
Contact
How I can be reached