Dr. Mangal Kothari

Department of Aerospace Enineering
Coordinator Center of Mechatronics
Indian Institute of Technology Kanpur



Doctor of Philosophy


University of Leicester, Leicester, U.K.

Branch:- Control Engineering

Master of Science [engg.]


Indian Institute of Science Bangalore

Branch:- Aerospace Engineering

Bachelor of Enieneering


University of Rajasthan, Rajasthan

Branch:- Electronics Instrumentation and Control Engineering

Industrial Exposure

Co-Founder, xTerra Robotoics Pvt. Ltd., Mar 2023.

Founder and Director, DronaVyuh Technology Pvt. Ltd, Mar 2019.

Co-Founder, EndureAir Systems Pvt. Ltd., Mar 2019.

Scientist, National Aerospace Laboratories, Bangalore, Nov 2006 - Sept 2007.



July 2022 - Present

Indian Institute of Technology Kanpur

Associate professor

June 2018 - June 2022

Indian Institute of Technology Kanpur

Assistant Professor

April 2014 - June 2018

Indian Institute of Technology Kanpur

Research Fellow

June 2012 - April 2014

Northumbria University, UK

Research Associate

Nov 2011 - April 2012

University of Porto, Portugal

Research Associate

Aug 2010 - Aug 2011

University of Leicester, U.K.


Research Areas

  • Aerial Robotic

    1. Flight Vehicle Guidance and Control (Fixed-Wing, Rotorcraft, Multi-rotor, VTOL)

    2. Autopilot development: Embedded Systems, RTOS

    3. Motion Planning, Coordinated control of UAVs/MAVs

    4. State Estimation: AHRS, Localization, GPS Denied Navigation, SLAM

    5. SDR, GPS Receiver

    6. Machine learning: deep and reinforcement learning algorithms

    7. Computer vision

  • Optimal Control, Nonlinear and Adaptive Control

  • Terrestrial and Legged Robotics

  • Stochastic Planning under Uncertainty (MDP/POMDP)  


Prospective students/staff:


Students can contact to work in the following areas:

1. Autopilot development using STM32
2. GPS receiver development using FPGA (Zynq)
3. Multi-target video tracker development
4. Optimization and control of quadruped robots
5. Pursuit-evasion games
6. Swarm development
7. Autonomous navigation and robotics
8. Reinforcement learning and control


Selected Publications

  1. Akhil B Krishna, Mangal Kothari, and Abhishek: Guidance and Control of Spin Stabilized Dual-Spin Projectiles, Journal of Guidance, Control, and Dynamics, AIAA, 2022, doi: 10.2514/1.G006758
  2. Arijit Sen, Soumya R Sahoo, and Mangal Kothari: Distributed Control for Multi-circular Formation around a Non-stationary Target, IEEE Transactions on Automatic Control, 2022, doi: 10.1109/TAC.2022.3179219
  3. Akhil B Krishna and Mangal Kothari: Robust Target Tracking of Variable-Pitch Quadrotors, Journal of Guidance, Control, and Dynamics, AIAA, Vol. 45, Issue 58, pp. 902-920, 2022, doi: 10.2514/1.G006310.
  4. Kuldeep Dhiman, Mangal Kothari, and Abhishek: Stabilization, Control, and Transportation of under Slung Load with Single and Dual Lift Helicopter Systems, Journal of Dynamic Systems, Measurement and Control, ASME, Vol. 144, Issue 4, pp. 041001, 2022, doi: 10.1115/1.4053186.
  5. Kuldeep Dhiman, Mangal Kothari, and Abhishek: Autonomous Load Control and Transportation Using Multiple Quadrotors, AIAA Journal of Aerospace Information Systems, AIAA, Vol. 17, Issue 8, pp. 417-435, 2020.
  6. Mahathi T Bhargavapuri, Animesh Kumar Shastry, Harsh Sinha, Soumya R Sahoo, and Mangal Kothari: Vision-based Autonomous Tracking and Landing of a Fully-actuated Rotorcraft, Control Engineering Practice, Elsevier, Vol. 89, pp. 113-129, 2019, doi:10.1016/j.conengprac.2019.05.015.
  7. Arijit Sen, Soumya R Sahoo, and Mangal Kothari: Circumnavigation on Multiple Circles around a Non-stationary Target with Desired Angular Spacing, IEEE Transactions on Cybernetics, IEEE, 2019.
  8. Jay Patrikar, M. V. Ramana , Anay Pattanaik, Hardik Parwana, and Mangal Kothari: Nested Saturation based Guidance Law for Unmanned Aerial vehicles, accepted for the publication in Journal of Dynamic Systems, Measurement ASME, Vol. 141, Issue 7, pp. 2019, doi:10.1115/1.4043107.
  9. Abhishek Kumar Shastry, Mangal Kothari, and Abhishek: Generalized Flight Dynamic Model of Quadrotor Using Hybrid Blade Element Momentum Theory, Journal of Aircraft, AIAA, 2018, Vol. 55, Issue 5, pp. 2162-2168, doi: 10.2514/1.C034899.
  10. Swati Swarnkar, Hardik Parwana, Mangal Kothari, and Abhishek: Biplane-Quadrotor Tailsitter UAV: Flight Dynamics and Control, Journal of Guidance, Control, and Dynamics, AIAA, Vol. 41, Issue 5, pp. 1049-1067, 2018, doi: 10.2514/1.G003201.
  11. M. V. Ramana and Mangal Kothari: A Pursuit Strategy to Capture High Speed Evaders using Multiple Pursuers, Journal of Guidance, Control, and Dynamics, AIAA, Vol. 40, No. 1, pp 139-149, 2017, doi: 10.2514/1.G000584.
  12. Mangal Kothari and Ian Postlethwaite: A Probabilistically Robust Path Planning Algorithm for UAVs using Rapidly-exploring Random Trees, Journal of Intelligent and Robotic Systems, Springer, Vol. 71, Issue 2, pp. 231-253, 2013, doi: 10.1007/s10846-012-9776-4.
  13. Radhakant Padhi and Mangal Kothari: Model Predictive Static Programming: A Promising Real-time Suboptimal Control Design for a Class of Nonlinear System, International Journal of Innovative Computing, Information and Control, Vol. 5, No. 2, pp. 399-411, 2009.

Detailed publication list is available at:

1. https://scholar.google.co.in/citations?hl=en&user=cbtKb54AAAAJ

2. https://www.scopus.com/authid/detail.uri?authorId=55807803900 

3. https://www.researchgate.net/profile/Mangal_Kothari/research

4. ORCID iD iconhttps://orcid.org/0000-0003-4713-7832




Students >> PhD


S.No Student Thesis Title Year
1. Nidhish Raj (Co-supervision, AE) Attitude Control of Agile Rotorcrafts:A Geometric Approach 2019
2. Mahathi T B (Co-supervision, EE) Autonomous Control of Multi-rotor Systems 2020
3. Arijit Sen (Co-supervision, EE) Cooperative Control and Localization 2020
4. Kuldeep Kumar Dhiman (Co-supervision, AE) Modeling, Simulation and Testing of The Dynamics of Under-Slung Load Systems Carried Using Rotary-Wing Unmanned Aerial Systems 2021
5. Shribharath B Particulate Rings Around Small Bodies 2022
6. Akhil B Krishna Robust Control of Autonomous Systems 2023
7. Ram D Gadekar (Co-supervision, AE) Design, Development, Flight Testing and System Identification of a Single Power Plant Variable Pitch Quadrotor UAV 2023
8. Swati Swarnkar Development of Flight Dynamics and Control of Biplane Quadcopter Converted to Part-time
9. Milind Lui Fernandes (Co-supervision, EE) Localization of Underwater Vehicles N.A.
10. Prateek Priyaranjan Pradhan Control and Communication for Swarm N.A.
11. Ramteke Vivek Haribhau Pursuit-Evasion Games N.A.
12. Nimesh Khandelwal (Co-supervision, ME) Trajectory Planning of Quadruped N.A.
13. Jitu Sanwale Design of Dual Frequency GPS Receiver N.A.
14. Rahul Kumar Jaiswal Design of Course Correction Fuze N.A.
15. Sandeep Mohan Nayak Actuator Design and Control of a Dual-Spin System N.A.
16. Shubhanshu Gupta Hybrid VTOL Design for High Altitude N.A.
17 Piyush Kumar Gaurav (Co-supervision, EE) Cooperative Localization of Multiple UAVs N.A.
18. Dheeraj (Co-supervision, EE) Vision based Navigation N.A.
19. Avinash Bhaskar (Co-supervision, ME) Design of Quadruped Robot N.A.
20. Kushal Kar (Co-supervision, AE) Design of Tandem helicopter N.A.
21. Amritanshu Manu (Co-supervision) Quadruped Motion Planning N.A.

Students >> M.Tech.


S.No Student Thesis Title Year
1. Prabhakaran B Autonomous Flight Control for Quadrotors 2015
2. Shribharath B Spacecraft Trajectory Planning 2015
3. S Aditya Varma Pitch Controlled 3-D Impact Angle Constrained Guidance 2016
4. M V Ramana Pursuit-Evasion Games of High Speed Evaders 2016
5. Namrata Gupta (Co-supervision) Flight Dynamic Modeling and Control of Inverted Flight of Variable-Pitch Quadrotors 2016
6. Arijit Sen (Co-supervision) Formation Control of Multi-agent Systems 2016
7. Abhishek Kumar Shastry A Study in Dynamics and Adaptive Control Design of Quadrotors 2016
8. Ravi Jaiswal Six-DOF Adaptive Control of Fixed-Wing UAVs 2016
9. Dinesh K N Guidance of Long Range Flight Vehicles 2016
10. Akhil B Krishna Robust Guidance and Control Design 2016
11. Vishvendra Rustagi Gyroscopic Stabilization of Flying Wing Aircrafts 2017
12. Vanshdeep Mahajan H-Infinity Control of Helicopter in Hover Conditions 2017
13. Preksha Gupta Wi-Fi based Localization and Mapping 2017
14. Vishnu S Chipade (Co-supervision) Advanced Flight Dynamic Modelling and Adaptive Control of Variable Pitch Quadrotor 2017
15. Ritesh Kumar Halder GPS Denied Navigation 2018
16. Jay Patrikar Robust Path Following for Fixed-wing UAVs 2018
17. Pranab Kumar Prusty Terminal Phase Interception of Ballistic Missiles 2018
18. Abhishek Kumar Singh  Design of Transition Controller for a Tailsitter UAV 2019
19. Balachandar D Design Trade Study for High Altitude Payload Delivery UAVs 2019
20. Basab Adhyapak Development of Flight Dynamics Model and Control Law for a Compound Helicopter 2019
21. Animesh Kumar Shastry A Universal Optimal Control Strategy for Biplane Quadrotor Tailsitter


22. Sourav Sinha (Co-supervision) Controller Development for a Novel Quadrotor Convertiplane UAV 2019
23. Raunak Jain (Co-supervision) Development of Ground Control Station for Swarm Applications 2019
24. Abhiroop Rastogi Optimal Covariance Control of UAVs 2021
25. Chandrakant Kaushal Analysis of Biplane configuration


26. Ukani Jatin B System identification of Biplane configuration 2020
27. Aditya Pratap Singh (Co-supervision) Optimization-Based Planning and Control for Legged Locomotion 2020
28. Arth Girish Patel Study of a Dual-Spin System 2021
29. R Sriram Parametric Study and Sensitivity Analysis of a Spin-Stabilized Projectile 2021
30. Rahul Kumar Jaiswal Converted to PHD N.A.
31. Sivaperuman M Orbital control of spacecraft around irregularly shaped bodies 2021
32. Balamurugan R Flight Dynamics Modelling and Control of Biplane Quadcopter 2021
33. Naveen Chandra R Design on Swarm for Multicopter UAVs 2022
34. Vivek Verma Optimal Control to Deflect Near-EARTH Asteroids using Laser 2021
35. Aryan Sharma Multiple Drone Detection 2021
36. Amritanshu Manu (Co-supervision) Optimization-Based Dynamic Gait Generation And Control for Quadruped Robots 2021
37. Doranala Sai Sreekar Optimal Feedback Control 2022
38. Nitik Jain Object Detection Underneath Sparse Occlusion of Forests 2022
39. Sashikant Rao Polsani Guidance and Control of a Dual-spin Projectile 2022
40. Nikit Y Vhatkar Design and Control of Quadplane 2022
41. Aadhithya S Flight dynamic Modelling for Biplane Tail-Sitter using Unsteady Aerodynamics 2022
42. Arihant Jain (Co-supervision) Validation of Optimization-based Motion Planning for a Quadruped Robot using Co-Simulation between MATLAB and MSC ADAMS 2022

Students >> M.S. (Research)

S.No Student Thesis Title Year
1. Jitu Sanwale System Identification and Control of Agile Aircraft 2020
2. Chirag Jain Autopilot Development of Biplane Quadcopter 2021
3. Shubhanshu Gupta Converted to PhD -
4. Sandeep Mohan Nayak Converted to PhD -
5. Piyush Kumar Gaurav (Co-supervision) Converted to PhD -
6. Kushal Kar (Co-supervision) Converted to PhD -


UG Cources


  • AE 461: Aircraft Design-I

  • AE 321: Flight Mechanics

  • AE 322: Aircraft Control Systems

  • AE 422: Experiments in Flight Mechanics


PG Courses


  • AE 647: Flight Dynamics

  • AE 648: Flight Stability & Control


New Courses


  • AE 640: Autonomous Navigation

  • AE 630: Autonomous Unmanned Aerial Systems

  • EE 698Y: Adaptive Control Theory (Summer 2016)

  • AE 633: Missiles Guidance and Dynamics

  • AE 691: Optimal Control and Reinforcement Learning

  • AE 711: Fundamentals of Global Navigation Satellite Systems (GNSS) Technology: A software Defined Radio Approach




HB-02, Helicoptor Building, IIT Kanpur, U.P.-208016