Mrunal Sarvaiya
Experience
Senior Robotics Software Engineer
August 2019
— August 2023
Peanut Robotics
- Developed the motion planning software architecture for a custom mobile manipulator
- Selected, integrated and tuned a trajectory tracking controller and time optimal trajectory generator (TOPPRA)
- Designed and implemented a custom navigation planner for hotel hallways that generates human-like and aesthetically pleasing motions
- Trained a neural network model to estimate manipulator currents used to add trajectory generator torque constraints for enhanced reliability
- Engineered tools to optimize robot paths by smoothing trajectories and reducing, overall joint-space distance by tweaking input configurations using an optimization program
Controls And Software Engineer (M.Eng. Capstone Project)
August 2018
— May 2019
Squishy Robotics
- Implemented and tuned a path planning technique using A-star and MPC for a Tensegrity robot
- Increased range of communication by 200% by integrating long range radio software
- Developed software that allowed interchangeable use of different frequency radios
R&D Test Systems Engineering Intern
May 2018
— August 2018
Tesla, Inc
- Created a Python program that automated data logging and was deployed on over 20 workstations replacing hardware worth over $5,000 per dynamometer workstation
- Increased data accessibility and reduced post processing time by uploading data to a company-wide server which is accessed by a Jenkins pipeline
- Reduced complexity of non-standard test scripts by integrating python into the existing testing architecture
Team President and Business Team Lead Presenter
August 2015
— May 2018
Illini Motorsports (Formula SAE)
- Managed and allocated a $30,000+ budget for 6 subsystems for a team of 80 students
- Raised funds by building relationships with 10 corporate sponsors and represented the team at major university outreach events
- Secured four top 3 finishes as the business team presenter at international university competitions
- Optimized vehicle intake geometry using GT-Power simulations, increasing engine power output by 2 HP
- Led a team of 6 students to design and validate a new vehicle radiator and fan
Research Assistant
May 2017
— March 2018
Advanced Controls Research Laboratory (Dr. Naira Hovakimyan)
- Developed a genetic algorithm in Matlab to find the best path for multiple drones given time, velocity, acceleration and space constraints
- Programmed an on-board controller for the motor that increased precision of the manipulator arm by 40% and increased range of motion by 100%
- Reduced complexity of non-standard test scripts by integrating python into the existing testing architecture
Education
University of California, Berkeley
August 2025
— May 2028
PhD in Electrical Engineering and Computer Science
New York University
August 2023
— July 2025
PhD Candidate in Electrical and Computer Engineering
University of California, Berkeley
August 2018
— May 2019
M.Eng in Control of Robotic and Autonomous Systems (3.70/4.0)
Stanford Center For Professional Development
January 2022
— May 2023
AI Graduate Program (3.77/4.30)
University Of Illinois At Urbana-Champaign
August 2014
— May 2018
B.S. Mechanical Engineering with Highest Honors (3.89/4.0)
Publications
HPA-MPC: Hybrid Perception-Aware Nonlinear Model Predictive Control for Quadrotors with Suspended Loads
November 2024
Optimal Trajectory Planning for Cooperative Manipulation with Multiple Quadrotors Using Control Barrier Functions
March 2023
ES-HPC-MPC: Exponentially Stable Hybrid Perception Constrained MPC for Quadrotor with Suspended Payloads
April 2025
Awards
Top 3 in the Business and Sales Presentation event
May 2018
Formula SAE
FSAE Michigan 2016, 2017, 2018 and FSAE Lincoln 2016, 2017, 2018
GM/Philip W. Leistra Jr. Society of Automotive Engineers Award
March 2018
Mechanical Engineering Dept at UIUC
Award for my contributions to the Formula SAE team
Dean's List
May 2018
Mechanical Engineering Dept at UIUC
Awarded every semester except Spring 2018
Languages
English:
Native speaker
Hindi:
Native speaker
Gujarati:
Fluent
Skills
Programming:
Python, C++, ROS 1/2, Matlab, Docker, PyTorch, Tensorflow
Planning and Controls:
Model Predictive Control, Reinforcement Learning, Classical Control Techniques, Trajectory Generation, Trajectory Tracking Controllers
Hobbies:
Rock Climbing, Coffee connoisseur, Chef, Guitar, Formula 1 Sim Racer