Experience

Vecna Technologies

Robotics Engineer
Autonomy Stack

Robot Autonomy Stack

  • Integrated cameras, LiDAR, IMU & wheel encoders into a full localization + navigation stack.
  • Implemented AMCL-based localization for deployment in museums, aquariums & hospitals.
  • Improved robustness of planning & control in crowded indoor environments.
Human-Following

Human-Following Robot

  • Developed YOLOv11-based person detection with Kalman filtering.
  • Designed reactive control & recovery behaviors for smooth tracking.
  • Achieved reliable human-following in dense crowds.
Trajectory Accuracy

Path Tracking Performance

  • Achieved 89% tracking accuracy on straight, zig-zag & circular motion patterns.
  • Maintained mean following distance error of 2.2 ± 0.5 m.
  • Validated performance across multiple controlled trials.
Go-to-Location Nav

Dynamic Navigation System

  • Designed real-time obstacle avoidance & dynamic replanning pipeline.
  • Achieved 94% goal-success across 60+ trials on three robots.
  • Demonstrated collision-free navigation in real environments.
Voice Commands

LLM-Based Voice Interface

  • Integrated LLM-powered natural-language understanding.
  • Converted voice commands into navigation goals.
  • Enabled fully hands-free robot operation.

NIOSH

Robotics Research Engineer
Memory-Augmented MPC

Memory-Augmented MPC Framework

  • Developed short-term temporal memory integrated with MPC.
  • Improved anticipatory human-following in cluttered spaces.
  • Enhanced safety-aware, adaptive navigation.
Safety & Proxemics Study

Safety & Proxemics Navigation

  • Achieved 98% tracking success across 150 trials.
  • Maintained 2.5 ± 0.3 m trailing distance.
  • Quantified comfort & safety metrics.
Human-Subject Experiment

Proxemics-Controlled Experiment

  • Designed motion-planning system for human–robot proxemics.
  • Integrated motion capture + physiological sensors.
  • Measured comfort & robot trajectory smoothness.
VR Construction Study

VR-Based Attention Study

  • Built VR high-rise construction simulation.
  • Analyzed drone noise & visual cues on attention.
  • Measured biomechanical & physiological metrics.

UAV Navigation with PX4 Autopilot and QGroundControl

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Experience Overview:

  • Autopilot Configuration: Configured PX4 Autopilot on Ubuntu 22.04 using Docker container deployment.
  • Ground Control Integration: Integrated QGroundControl with the local machine, establishing a connection via a designated port.
  • UAV Testing: Conducted testing with tailsitter and CRC custom UAVs.
  • Mission Planning and Execution: Developed custom mission plans and managed execution phases including takeoff, navigation, and landing.
  • Position Control and Precision Navigation: Implemented position control algorithms and ensured precise waypoint navigation.
  • Tools Used:
    • C++
    PX4-Autopilot
    ROS
    PX4-Autopilot
    Gazebo

    Trajectory Planning and Optimization for Robotic Navigation

    Robotic Navigation Project Image

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    Experience Overview:

  • Interface Development: Enhanced REFINE controller interfaces for improved system interaction.
  • FRS Generation and Management: Developed Forward Reachable Sets (FRS) and implemented FRS_loader and FRS_Instance for efficient management.
  • Objective and Cost Function Implementation: Crafted objective functions and cost calculations for trajectory planning.
  • Planner Development: Created Refine Planner for iterative trajectory planning, integrating dynamic path selection.
  • Trajectory Optimization: Utilized Trajectory_Factory and RtdTrajOpt class for trajectory optimization and cost efficiency analysis.
  • Tools Used:
    • C++
    Matlab
    matplotlib
    Efficiency Enhancement in Industrial Logistics

    Efficiency Enhancement in Industrial Logistics

    Efficiency Enhancement in Industrial Logistics

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    Experience Overview:

  • CAD Design: Developed CAD models for AC gas cylinder transportation and tilting mechanisms.
  • Automation Solutions: Worked on the design and implementation of Automated Guided Vehicles and 3MU systems.
  • Process Optimization: Utilized Spaghetti diagrams for streamlining workflows and enhancing efficiency.
  • Digital Andon System: Led the team in deploying a digital Andon system for real-time shop floor monitoring.
  • Tools Used: Creo, CAD, 3D Automation Software.