Responsibilities include:

• Built a communication module which transmits keyframe messages across different agents which will be used to solve the Multi-SLAM problem. The keyframes and the odometry form the nodes and edges of the posegraph which is optimized whenever there is a loop closure detected. The communication is done via sockets using TCP protocol.
• Created a 3D map of the lab using point cloud data from the depth camera and rectified odometry from VINS framework. Utilized Voxfield framework for this purpose.
• Established direct motor control in a drone through the PX4-Autopilot firmware using the uXRCE-DDS middleware and ROS2 framework. This is done both in simulation and in real hardware.

Responsibilities include:

• Led a team of 10-15 members to build an underwater rover. Mainly focused on Powersystems and Electronics aspects of this project which involved component selection, calibration and testing.
• Mentored in various workshops which teach foundations of Robotics(microcontrollers, CAD design, etc.) to beginners at our university.