About

I am a graduate student from Indiana University, Bloomington working on swarm and aerial robotics. I am interested in aggressive control of quadrotors, formation controlling, and emergent behaviors in aerial swarms. Currently, I am working on controlling swarms of micro aerial vehicles with a probabilistic graphical model based approach.

I obtained my B.Sc (Hons.) (IT) 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: My paper titled “Online Flocking Control of UAVs with Mean-Field Approximation” got accepted to ICRA 2021! [preprint]


Some Recent Works

Real-time coordination of aerial swarms with mean-field approximation

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.