Jun 2023 – May 2024 · 11 mos · Downers Grove, Illinois, United States · On-site

• As a Robotics Software Developer Intern at Trossen Robotics, my chief contribution was prototyping, ideating, implementing and testing autonomous navigation pipelines for UGV platforms with robust C++ software using ROS 2 and Nav2. Additionally comprehensive testing mechanisms were designed and developed for unit testing and system across software and hardware, coupled with high fidelity simulations in Gazebo.
• Two main aspects of my work were: Localization, and Navigation
• Localization:
• I worked on creating accurate localization fusing together GNSS, IMU and wheel odometry Extended Kalman Filters to achieve cm accuracy. Additionally, I designed localization watch dogs that constantly monitor the quality of localization, serving as additional safety net for navigation. This module was supplemented with additional APIs to faciliate efficient interaction between user and robot.
• Navigation:
• I implemented two high level ensuring point to point navigation and mission handling at speeds upto 1.5 m/s using ROS 2. These modules have comprehensive APIs giving user control to various levels of navigation, from point-to-point to mission management.
• Navigation behaviors were enforced using custom Behavior Trees. Navigation monitoring application in ROS 2 was an important aspect of the range of APIs created for the user. This application monitored the behavior trees for progress, completion and anomalies and reported the status to the user.

May 2021 – Oct 2021 · 5 mos · Pune

• 1) Incompressible flows in the square and polar lid-driven cavities were simulated in OpenFoam 7 and verified with established research papers.
• 2) In square cavities, separation points of primary, secondary and tertiary vortices were calculated using velocity gradient data from the simulations. Actual points where the gradients become zero along the walls were located using Matlab.
• 3) For fluid flows in polar cavities, Cartesian governing equations were solved, and cylindrical velocity components were obtained in ParaFoam ( OpenFoam's postprocessing software) by creating a custom filter.
• 4) Forced Convection in a square lid-driven cavity was also simulated. The existing icoFoam solver was modified to include a Temperature field.