diff --git a/discovery-phase/missions/mission_15_Parthiv.py b/discovery-phase/missions/mission_15_Parthiv.py
new file mode 100644
index 0000000..2b5caed
--- /dev/null
+++ b/discovery-phase/missions/mission_15_Parthiv.py
@@ -0,0 +1,53 @@
+#Solution for biosentric center
+import umath
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.tools import run_task, multitask
+from pybricks.tools import wait, StopWatch
+from pybricks.robotics import DriveBase
+from pybricks.hubs import PrimeHub
+
+# Initialize hub and devices
+hub = PrimeHub()
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B,Direction.CLOCKWISE) # Specify default direction
+left_arm = Motor(Port.C, Direction.CLOCKWISE, [[12,36]],[[12,20,24]] ) # Specify default direction
+right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration
+lazer_ranger = UltrasonicSensor(Port.E)
+color_sensor = ColorSensor(Port.F)
+
+# DriveBase configuration
+WHEEL_DIAMETER = 68.8  # mm (adjust for your wheels)
+AXLE_TRACK = 180  # mm (distance between wheels)
+drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
+drive_base.settings(700, 500, 300, 200)   
+drive_base.use_gyro(True)
+
+def set_speed(straight_speed, st_acc, turn_speed, turn_acc):
+    drive_base.settings(straight_speed, st_acc, turn_speed, turn_acc) 
+
+async def run_both_arms():
+
+    await multitask(
+        left_arm.run_angle(200,80),
+        right_arm.run_angle(200,-100)
+    )
+
+async def main ():
+    await left_arm.run_angle(200,-80)
+    await right_arm.run_angle(200,-70)
+    await drive_base.arc(-400,angle=90)
+    await drive_base.turn(55)
+    await drive_base.straight(240)
+    await drive_base.turn(-40)
+    await drive_base.straight(85)
+    await drive_base.straight(-32)
+    await run_both_arms()
+    await drive_base.straight(-53)
+    await right_arm.run_angle(200,100)
+    await drive_base.turn(30)
+    await drive_base.straight(-775)
+    await drive_base.stop
+    
+
+run_task(main())