Pratyush

Publications

1. IROS

   DeepControl: Energy-Efficient Control of a Quadrotor using a Deep Neural Network

   Varshney, Pratyush, Nagar, Gajendra, and Saha, Indranil

   In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, SAR, China, November 3-8, 2019 2019

   Abs

   Synthesis of a feedback controller for nonlinear dynamical systems like a quadrotor requires to deal with the trade-off between performance and online computation time of the controller. Model predictive controllers (MPC) provide excellent control performance, but at the cost of a very high online computation. In this paper, we present our experience in approximating the behavior of an MPC controller for a quadrotor with a feed-forward neural network. To facilitate the collection of training data, we create a faithful model of the quadrotor and use Gazebo simulator to collect sufficient training data. The deep neural network (DNN) controller learned from the training data has been tested on various trajectories to compare its performance with a model-predictive controller. Our experimental results show that our DNN controller can provide almost similar trajectory tracking performance at a lower control computation cost, which helps in increasing the flight time of the quadrotor. The hardware requirements of our DNN controller is also significantly less than that for the MPC controller, thus the use of DNN based controller also helps in reducing the overall price of a quadrotor.

2. CSAW

   Data Exfiltration using Side Channels in IoT devices

   Varshney, Pratyush, Madhukant, , Vasita, Nilesh, and Gupta, Tushar

   In CSAW 2018

   Abs

   In this paper, we discuss the usage of IoT devicesand their impact on our day-to-day life. We then explore variousside-channel attacks that IoT devices are prone to, and what aresome different types of attacks which can be done on IoT devices.We also discuss some already implemented attacks on IoT devicesin the past that have led to leakage of private data. Further, wediscuss some possible techniques to covertly exfiltrate a givenmessage string using the Magic Blue Bluetooth bulb using bothNon-invasive and Semi-invasive methods.