Human-State-Aware Non-linear Control Framework For Physical Collaborative Aerial Transportation
Pratik Prajapati, Ravi N Banavar, and Vineet Vashista
IEEE Control Systems Letters, vol. 9, pp. 1363-1368, 2025 and presented in IEEE Conference on Decision and Control (CDC) 2025.

Aerial Physical Human Robot Interaction for Payload Transportation
Pratik Prajapati, and Vineet Vashista
IEEE Robotics and Automation Letters, vol. 8, no. 8, pp. 4903-4910, Aug. 2023 | Oral Presentation at ICRA 2024 Yokohama Japan

On-board cable attitude measurement and controller for outdoor aerial transportation
Pratik Prajapati, Sagar Parikh, and Vineet Vashista
Robotica , Volume 40 , Issue 5 , May 2022 , pp. 1650 - 1664

A Non-Linear Control Framework for Human Teleoperated Quadcopter-Payload System in Outdoor Settings
Pratik Prajapati, Ravi N Banavar, and Vineet Vashista
Robotica 2026 (under review)

Human Teleoperation of Two quadcopters with a cable-suspended Payload using Non-linear Geometric Control in Outdoor Settings
Pratik Prajapati, Ravi N Banavar, and Vineet Vashista
IEEE Transaction of Robotics (under preparation)

Compact and Lightweight Cable Attitude Measurement Device for Aerial Transportation Applications
Pratik Prajapati, and Vineet Vashista
TENCON 2024 - 2024 IEEE Region 10 Conference (TENCON), Singapore, Singapore, 2024, pp. 1954-1957, doi: 10.1109/TENCON61640.2024.10902676.

A Study on Reinforcement Learning based Control of Quadcopter with a Cable-suspended Payload
Pratik Prajapati, Atul Patidar, and Vineet Vashista
In Proceedings of the 2023 6th International Conference on Advances in Robotics. Association for Computing Machinery, New York, NY, USA, Article 75, 1–6,

Motion Planning and Control of Two Quadcopters with Cable-Suspended Point Mass Payload
Pratik Prajapati, and Vineet Vashista
Recent Advances in Machines and Mechanisms, Springer, Singapore. 5th International and 20th National Conference on Machines and Mechanisms, Dec 09-11, 2021

On the Human Control of a Multiple Quadcopters with a Cable-suspended Payload System
Pratik Prajapati, Sagar Parikh, and Vineet Vashista. 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 2253-2258

Collaborative Transportation of Cable-Suspended Payload using Two Quadcopters with Human in the loop
Pratik Prajapati, Sagar Parikh, and Vineet Vashista. 2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2019, pp. 1-6

Practical Experience

• Controls: Significant hands-on experience in deploying nonlinear flight control algorithms on PX4/Ardupilot firmware in C/C++

• Programming Language: Python, C/C++, MATLAB, Simulink, SIMSCAPE

• Tools: ROS/ROS2, Gazebo, V-REP, Git, Latex, Creo, Motion Capture System

• Hardware Boards: Arduino, ESP8266, Portenta, Raspberry Pi

• Operating Language: Ubuntu, Windows

Awards

• Won best presenter awards at Doctoral Symposium at the Advances in Robotics 2023 , 6th international conference of the robotic society at IIT Ropar, July 2023

• Promoted to Senior Research Fellow (SRF) granted by Science and Engineering Research Board (SERB), Government of INDIA, July 2021-23

• 25,000 INR (~300 USD) Cash Award for Best Conference/Journal Publications (Semester-II, 2020-21) from IIT Gandhinagar, July 2021

Contact

Faculty of Electrical Engineering
Department of Cybernetics, CTU Prague
Karlovo namesti 13, 121 35 Prague 2, Czechia
Building E, Office KN:E-124

Email: prajapra@fel.cvut.cz

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Last edited on April 22 ^th 2025
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