Experience
Vecna Technologies
Robotics Engineer
Autonomy Stack
Robot Autonomy Stack
- Integrated cameras, LiDAR, IMU & wheel encoders into a full localization + navigation stack.
- Deployed AMCL-based localization for deployment in museums, aquariums & hospitals.
- Implemented Extended Kalman Filter to fuse IMU and wheel odometry and a PID controller achieving 0.5 cm positional accuracy.
Go-to-Location Nav
Point to point navigation
- Deployed a robust “Go-to-Location” feature with reliable localization, and dynamic replanning around unknown obstacles.
- Designed real-time obstacle avoidance & dynamic replanning pipeline.
- Achieved 94% goal-success across 60+ trials on three robots.
- Demonstrated collision-free navigation in cafeteria, office lobby and museums.
Human-Following
Human-Following Robot
- Integrated YOLOv11-based person detection with constant acceleration Kalman filter for robust human state estimation.
- Implemented reactive control and recovery behaviors for smooth tracking under perception dropouts.
- Validated reliable human-following performance in dense and highly dynamic crowds.
- 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.
Voice Commands
LLM-Based Voice Interface
- Designed an LLM-driven voice interface for intent-aware robot control.
- Mapped spoken commands to navigation goals and autonomy behaviors.
- Enabled fully hands-free operation with wake-word–triggered commands including stop, go-to-location, follow-me, and docking.
Auto Docking
Fiducial Marker & AprilTag–Based Docking
- Uses a pre-recorded AprilTag pose to localize and approach the docking station to a fixed offset.
- Aligns the robot’s orientation relative to the tag before initiating a controlled docking maneuver.
- Achieves reliable, hands-free autodocking via high-frequency (28 kHz) IR-based fine alignment.
System Design
System Architecture & Platform Migration
- Led platform migration from NVIDIA Xavier to AGX Orin, including flashing, building, and validating standardized Docker images.
- Ensured GPU compatibility and real-time performance for autonomy pipelines such as human-following and navigation.
- Established a reproducible deployment workflow for cross-platform robotics development and testing.
NIOSH
Robotics Research Engineer
Memory-Augmented MPC
Predictive Control for Human-Aware Navigation
- Developed a Memory-Augmented Model Predictive Controller (MAMPC) for human-following robots in dynamic, cluttered environments.
- Incorporated short-term temporal memory to improve anticipation of human motion and intent.
- Contributed to paper publication and experimental validation for an international robotics conference submission.
Masonry Robot Perception
Perception & Geometry for Unstructured Construction Tasks
- Developed an AprilTag and fiducial-based perception pipeline, including plane orientation estimation relative to the ground.
- Performed camera calibration and depth-based geometric reasoning using checkerboard patterns for reliable plane estimation.
- Supported research on perception, control, and learning-based strategies for robotic masonry in unstructured environments.
- Investigated gripper technologies (GelSight, GelSlim) for manipulation in construction contexts.
Human–Robot Proxemics
Safety & Proxemics Studies with Industrial Robots
- Assisted in designing and executing human-subject experiments evaluating comfort and safety around industrial mobile robots (Freight100).
- Configured multi-robot navigation tasks using ROS, Gazebo, AMCL, TF trees, and map servers.
- Developed communication protocols to maintain fixed speed and separation distances during trials.
- Supported motion-capture-based tracking of human and robot pose during experiments.
VR Human-Factors Lab
VR-Based Attention & Cognitive Load Experiments
- Conducted VR-based experiments measuring human attention and cognitive load in simulated construction scenarios.
- Collected and synchronized multimodal data from force plates, heart-rate sensors, and VR headsets across repeated trials.
- Managed experimental flow, sensor calibration, participant onboarding, and reliable data logging.
- Gained hands-on experience with ethical protocols and best practices for human-subject research.
Simulation & Testing
Simulation Environments & Experimental Pipelines
- Set up Gazebo-based simulation environments with obstacles to test robotic masonry and navigation behaviors.
- Developed 3D simulation test environments using gazebo and pybullet.
- Collaborated on experimental design and data-collection procedures across multiple research projects.
Memory-Augmented MPC
Predictive Control for Human-Aware Navigation
- Developed a Memory-Augmented Model Predictive Controller (MAMPC) for human-following robots in dynamic, cluttered environments.
- Incorporated short-term temporal memory to improve anticipation of human motion and intent.
- Contributed to paper publication and experimental validation for an international robotics conference submission.
Masonry Robot Perception
Perception & Geometry for Unstructured Construction Tasks
- Developed an AprilTag and fiducial-based perception pipeline, including plane orientation estimation relative to the ground.
- Performed camera calibration and depth-based geometric reasoning using checkerboard patterns for reliable plane estimation.
- Supported research on perception, control, and learning-based strategies for robotic masonry in unstructured environments.
- Investigated gripper technologies (GelSight, GelSlim) for manipulation in construction contexts.
Human–Robot Proxemics
Safety & Proxemics Studies with Industrial Robots
- Assisted in designing and executing human-subject experiments evaluating comfort and safety around industrial mobile robots (Freight100).
- Configured multi-robot navigation tasks using ROS, Gazebo, AMCL, TF trees, and map servers.
- Developed communication protocols to maintain fixed speed and separation distances during trials.
- Supported motion-capture-based tracking of human and robot pose during experiments.
VR Human-Factors Lab
VR-Based Attention & Cognitive Load Experiments
- Conducted VR-based experiments measuring human attention and cognitive load in simulated construction scenarios.
- Collected and synchronized multimodal data from force plates, heart-rate sensors, and VR headsets across repeated trials.
- Managed experimental flow, sensor calibration, participant onboarding, and reliable data logging.
- Gained hands-on experience with ethical protocols and best practices for human-subject research.
Simulation & Testing
Simulation Environments & Experimental Pipelines
- Set up Gazebo-based simulation environments with obstacles to test robotic masonry and navigation behaviors.
- Developed 3D simulation test environments using gazebo and pybullet.
- Collaborated on experimental design and data-collection procedures across multiple research projects.
Fluent Robotics Lab
Research Assistant — University of Michigan
Gaze-Based Intent Inference
Eye Gaze as a Predictor of Human Navigation
- Analyzed MoGaze and THÖR-MAGNI datasets to study fixation patterns before locomotion decisions.
- Modeled relationships between gaze direction, head orientation, and future motion intent.
- Identified failure modes of gaze-only predictors in cluttered and ambiguous scenes.
- Motivated latent goal inference beyond surface-level gaze trajectories.
Data Analysis
Dataset Processing
- Built Python pipelines for synchronizing gaze, trajectory, and pose data.
- Developed visualization tools for world-frame gaze alignment.
Flight dynamics Lab
Research Assistant - University of Michigan
Flight Testing
UAV Testing & Validation
- Conducted flight testing on tailsitter and CRC custom UAV platforms.
- Evaluated stability, control response, and mission execution reliability.
- Iterated on tuning parameters using flight log analysis.
Mission Planning
Navigation & Position Control
- Designed custom missions covering takeoff, waypoint navigation, and landing.
- Implemented position-control strategies for precise waypoint tracking.
- Validated navigation accuracy across repeated trials.
Autopilot Setup
PX4 Autopilot Configuration
- Configured PX4 Autopilot on Ubuntu 22.04 using Docker-based deployment.
- Built and validated firmware for custom UAV platforms.
- Ensured reliable onboard system initialization and parameter consistency.
Ground Control
QGroundControl Integration
- Integrated QGroundControl for real-time telemetry and mission monitoring.
- Established stable communication via designated ports.
- Debugged parameter synchronization and link reliability issues.
Flight Demo
PX4 Flight Demonstration
- Tools: PX4 Autopilot, QGroundControl, ROS, Gazebo, C++.
ROAHM Lab
Research Assistant — University of Michigan
Reachability-Based Planning
Forward Reachable Sets
- Worked on reachability-based trajectory planning using Forward Reachable Sets (FRS).
- Integrated zonotope-based reachability analysis in C++, improving predictive trajectory computation for dynamic environments.
Planner Architecture
Modular Planner Design
- Optimized the REFINE framework by implementing feedback linearization, enhancing trajectory planning and obstacle avoidance.
- Reduced Forward Reachability Set (FRS) computation time by 58.6% through zonotope slicing, improving real-time predictive safety analysis.
Volvo Groups
Mechanical Engineer
Mechanical Design
CAD & Mechanism Design
- Developed CAD models for AC gas cylinder transportation systems.
- Designed tilting and handling mechanisms for safe material movement.
- Validated designs for manufacturability and shop-floor deployment.
Automation Systems
AGV & 3MU Integration
- Contributed to the design and deployment of Automated Guided Vehicle (AGV) systems.
- Worked with 3MU automation units for material transport.
- Supported system-level integration and testing.
Process Optimization
Operational Efficiency
- Applied Spaghetti diagram analysis to identify workflow inefficiencies.
- Redesigned shop-floor layouts to reduce unnecessary motion.
- Improved throughput and material handling efficiency.
Digital Andon
Shop-Floor Monitoring
- Led deployment of a digital Andon system for real-time status tracking.
- Enabled faster issue detection and response on the shop floor.
- Improved visibility into production bottlenecks.
Project Visuals
Industrial Logistics Setup
- Tools: Creo, CAD, 3D Automation Software.