About

I am a graduate student from Indiana University, Bloomington working on swarm and aerial robotics. Speaking broadly, I am interested in studying agent interactions for cooperative control in robot swarms from a game theoretical standpoint.

I obtained my bachelors degree from University of Moratuwa, Sri Lanka in 2015 and I worked as a software engineer for WSO2 from 2015 to 2017. I completed an internship at Open Robotics in 2019 and also Google Summer of Code in 2014 with Mozilla.

I have also served as IEEE student representative for Sri Lanka section in 2015, a student activity committee (SAC) member of IEEE Region 10 and Region 4 in 2016 and 2019 respectively.

News: A new project webpage for our communication-aware robot swarm coordination is up [Website].

New paper: “CoCo Games: Graphical Game-Theoretic Swarm Control for Communication-Aware Coverage” [Preprint].

Recent Works

CoCo Games: Graphical Game-Theoretic Swarm Control for Communication-Aware Coverage.
CoCo Games is a multi-robot coverage scheme focused on providing communication-aware coverage for a large Region of Interest (ROI). Specifically, CoCo Games can be used to coordinate UAV swarms to establish ad-hoc mobile wireless networks for stationary and moving ground robot teams in real-time. Find the video demonstration for the project below. Project website: https://malintha.github.io/coco/.


Online Flocking Control of UAVs with Mean-Field Approximation
In this work we cast the multiple aerial robots flocking as a probabilistic inference problem and utilize mean-field approximation to infer the control actions for the robots in real time.

Flocking of Multi Aerial Vehicles
Generation of flocking behavior for UAV swarms in confined areas.

Multi-UAV-Simulator
A robust and light weight multi UAV dynamics simulator based on Robot Operating System (ROS). Find the code at https://github.com/Malintha/multi_uav_simulator

Formation Control and Navigation of a Quadrotor Swarm
A swarm of Crazyflie nano drones are controlled by using rigid body dynamics. Published at International Conference on Unmanned Aircraft Systems (2019).

Aggressive and Precise Maneuvering of a Crazyflie Nano Drone
This work includes generating smooth, piecewise trajectories with quadratic programming.