Portrait of Ishaan Mahajan

Ishaan Mahajan

Incoming Ph.D. student at Carnegie Mellon University

Previously:

MS in Computer Science, Columbia University under Brian Plancher and James Anderson

BS in Computer Science and Data Science, UW-Madison under Dan Negrut

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Publications

2026

  1. Code Generation and Conic Constraints for Model-Predictive Control on Microcontrollers with Conic-TinyMPC

    Ishaan Mahajan*, Khai Nguyen*, Sam Schoedel*, Elakhya Nedumaran, Moises Mata, Brian Plancher, and Zachary Manchester

    IEEE International Conference on Robotics & Automation (ICRA) 2026

    arXiv

  2. TAG-K: Tail-Averaged Greedy Kaczmarz for Computationally Efficient and Performant Online Inertial Parameter Estimation

    Shuo Sha, Anupam Bhakta, Zhenyuan Jiang, Kevin Qiu, Ishaan Mahajan, Gabriel Bravo, and Brian Plancher

    IEEE International Conference on Robotics & Automation (ICRA) 2026

    arXiv

2025

  1. Robust and Efficient Embedded Convex Optimization through First-Order Adaptive Caching

    Ishaan Mahajan, and Brian Plancher

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

    arXiv

2024

  1. A Library of Lower Fidelity Dynamics Models (LFDMs) For On-Road Vehicle Dynamics Targeting Faster Than Real-Time Applications

    Huzaifa Mustafa Unjhawala, Ishaan Mahajan, Radu Serban, and Dan Negrut

    Journal of Open Source Software 2024

    PDF

  2. Quantifying the Sim2real Gap for GPS and IMU Sensors

    Ishaan Mahajan, Huzaifa Unjhawala, Harry Zhang, Zhenhao Zhou, Aaron Young, Alexis Ruiz, Stefan Caldararu, Nevindu Batagoda, Sriram Ashokkumar, and Dan Negrut

    arXiv preprint arXiv:2403.11000

    arXiv

2023

  1. Using simulation to design an MPC policy for field navigation using GPS sensing

    Harry Zhang, Stefan Caldararu, Ishaan Mahajan, Shouvik Chatterjee, Thomas Hansen, Abhiraj Dashora, Sriram Ashokkumar, Luning Fang, Xiangru Xu, Shen He, and others

    ECCOMAS Thematic Conference on Multibody Dynamics 2023

    arXiv

  2. An Overview of a Framework for Designing Robot Autonomy Stacks in Simulation

    Thomas Hansen, Shouvik Chatterjee, Sriram Ashokkumar, Ishaan Mahajan, Harry Zhang, Stefan Caldararu, Abhiraj Dashora, Aaron Young, He Shen, Luning Fang, and others

    ECCOMAS Thematic Conference on Multibody Dynamics 2023

    PDF

2022

  1. A software toolkit and hardware platform for investigating and comparing robot autonomy algorithms in simulation and reality

    Asher Elmquist, Aaron Young, Ishaan Mahajan, Kyle Fahey, Abhiraj Dashora, Sriram Ashokkumar, Stefan Caldararu, Victor Freire, Xiangru Xu, Radu Serban, and others

    MiniRobots Workshop at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022

    arXiv

Software

A selection of libraries and systems I actively develop or have contributed to.

TinyMPC

TinyMPC

A high-performance, lightweight Model Predictive Control solver designed for embedded systems and real-time applications, with a focus on fast solves and a minimal memory footprint.

Website GitHub
LFDM

LFDM

Lower Fidelity Dynamics Models for on-road wheeled vehicles written in C++ and CUDA, built for fast vehicle dynamics simulation in autonomous driving research and testing.

GitHub
Autonomy Research Testbed

Autonomy Research Testbed

A software and hardware platform for developing and testing robot autonomy algorithms in both simulation and reality, designed to narrow the sim-to-real gap for autonomous systems.

GitHub