Research
Intelligent robotic systems, control theory, Reinforcement Learning and machine learning.
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0Years Active
0Conferences
Currently Working On
Research I'm actively involved in right now
Leading
Caster Disturbance Controller for Powered Wheelchairs
Evaluating a reinforcement-learning and PID-based caster misalignment correction controller for powered wheelchair motion safety, tested on a mid-wheel-drive Jazzy Air wheelchair. Writing up results for submission to ICRA 2027.
Involved
Shared-Autonomy HRI Study on Kinova Robot Arm
Supporting a shared-autonomy human-robot interaction study, recruiting participants and conducting user study sessions, including motor-impaired and wheelchair-using individuals.
Supporting
Stair-Climbing Robot Evaluation
Supporting evaluation of a stair-climbing robot by building four test staircases and recording its climbing performance on each.
Publications
Enabling Immersive Indoor Navigation and Control Through Augmented Reality With Computer Vision
Integrates computer vision, AR, and cloud-based communication to create a real-time 3D map of a robot's surroundings for an immersive indoor robot control experience, with 1 cm accuracy depth estimation using Microsoft Kinect V2 and semantic segmentation.
CasteriX: A Wheel Configurable Caster Wheel-Based Prototype Design for Electric Wheelchair Motion Dynamics Research (Best Poster Award)
A wheel-configurable modular research platform for electric wheelchair caster wheel motion dynamics analysis, supporting 212 wheel configurations across three major wheelchair types, recognized with the 🏆 Best Poster Award at ICIPRoB 2026.
Adaptive Navigation of a Transformer Robot in Warehouse Environments
A adaptive navigation framework for transformer robots in warehouse environments, integrating overhead camera perception, binary segmentation, and a shape-aware A* algorithm to determine optimal robot configurations through narrow passages.
Writing conference paper for the International Conference on Robotics & Automation(ICRA) 2027
Evaluating a reinforcement-learning and PID-based caster misalignment correction controller for powered wheelchair motion safety, tested on a mid-wheel-drive Jazzy Air wheelchair. Writing up results for submission to ICRA 2027. Full citation will be available upon IEEE publication.
Academic Services
Conference Reviewer/Editor
ICARC 2025 (Reviewer)Program Book →
MERCon 2025 (Editorial Team)Letter of Appreciation →
Collaborators & Labs
Prof. A.G.B.P. Jayasekara
MSc Research Supervisor/ Head of Department, Electrical Engineering
University of Moratuwa, Sri Lanka
Prof. D. P. Chandima
BSc Research Supervisor/ Associate Lecturer
Sheffield Hallam University, UK
Intelligent Service Robotics Group
Research Group
University of Moratuwa, Sri Lanka
Dr. M. A. Viraj J. Muthugala
Research Collaborator/ Research Fellow
Singapore University of Technology and Design (SUTD), Singapore