I design and build perception and navigation stacks for mobile robots, from multi-LiDAR fusion pipelines with GPU acceleration to full autonomy software using ROS 2, Nav2, and behavior trees. Previously built localization and SLAM systems for industrial AMRs, led IIT Patna's Robocon team to the highest IIT score at ABU Robocon 2024 National Finals, and founded the institute's rover team for the ISRO Robotics Challenge.

• Gold Medalist, Inter IIT Tech Jaguar Land Rover Chiplet Challenge (2023)
• Captain, ABU Robocon 2024, highest score among IIT teams at National Finals
• Founded and led IIT Patna's Rover Team for IRoC-U 2024
• Karnataka Rank 8 in NSTSE (2020)

• Nav2 - Contributor to the ROS 2 Navigation stack
• AutonomousVehiclesBeginnerGuide - Contributor to the autonomous vehicles learning resource
• PlotJuggler - Contributor to the ROS time-series visualization tool

• POLKA - Multi-LiDAR fusion node for ROS 2 with optional CUDA GPU acceleration. Merges PointCloud2 and LaserScan sources into a single composable node with SE(3) IMU deskewing, per-source filtering, footprint exclusion, and voxel downsampling. C++17 CUDA PCL Eigen3
• Autonomous Navigation & SLAM - Built custom hardware interfaced with ROS Humble. Implemented ORB SLAM on monocular camera and RTAB-Map with depth camera for mapping and localization. Integrated YD LiDAR with Nav2 for navigation in dynamic environments. ROS 2 ORB SLAM RTAB-Map Nav2
• Multi-Robot SLAM (Rigbetel Labs, Inter IIT 13.0) - Multi-robot mapping and localization using TurtleBot3 in simulated industrial environments. Fused 2D LiDAR and odometry data for real-time collaborative mapping with Nav2 path planning. ROS 2 Humble Nav2 SLAM
• ISRO USRC Lunar Elemental Mapping (Inter IIT 13.0) - Multi-shot super-resolution on lunar XRF data to enhance spatial resolution of elemental distribution from 15 km to 1 km. Spectral decomposition and interpolation for missing data imputation.
• Sensor Data Server - Real-time sensor data collection from mobile devices with Node.js and Python backends. WebSocket and REST API endpoints, 3D dashboard visualization, and ROS Humble integration for robotics perception stacks.
• Robotics Handbook - An evolving reference covering ROS 2, Nav2, SLAM, and sensor fusion.

Robotics & Middleware

Languages

Libraries & Frameworks

Embedded

Infrastructure