ROS Perception Pipeline

Made during the e-yantra Robotics Competition 2020-21, Sahayak Bot was the first project that introduced me to simulation-based advanced robotics development using ROS & Gazebo. We focused on the developement of the autonomy stack of Sahayak Bot, a mobile manipulator, including navigation, SLAM, perception, manipulation & mission planning using ROS, Gazebo and Moveit!. Upon completition our implementation was selected among top 7 finalists out of almost 500 teams.

Built a fleet of two line-following robots with custom 3D-printed pick-and-place mechanisms during the e-Yantra Robotics Competition 2021–22. Developed algorithms for grid-based path planning, mapping, fleet management, PID-based line following and manipulation in Elixir. Selected among the top 5 teams out of nearly 300.

Our in-house custom designed and fabricated AMR at A.T.O.M. The hardware and software design follows a modular architecture making this fitting for the multiple applications, hence the name MR (ModulaR) Robot.

First prize winning project for Mitsubishi America’s Rally-To-Tally Online Hackathon. Developed an autonomous solution for their problem statement of inventory management of large industrial steel pipes using computer vision and outdoor mobile robots. Demostrated the PoC with the help of a custom simulation of Husky robot in Gazebo with InfluxDB and Grafana for integration for the data visualization

Showcased my internship project at Technoyantra, one of the early open-source demonstrations integrating ROS 2, Nav2, SLAM Toolbox, and Ignition Gazebo for the in-house AMR, IGT.

Showcased our project for the NASA SpaceROS Summer Sprint Challenge 2024, featuring custom Gazebo plugins for extraterrestrial simulations.

Made in collaboration with the Hatchnhack Makerspace in Delhi, we made a complete coffe table with a 12x12 LED Matrix inside for playing interactiveness and cool animations. The project used WS2812B LEDs with an ESP32 Dev Board at the heart for the controls