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Akashleena Sarkar
Junior Software Engineer specializing in robotics and real-time distributed systems
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About
Robotics software engineer focused on low-compute navigation/SLAM: built a 6-DOF SLAM validation pipeline (IMU + 2D LiDAR + ultrasonic) producing ~1cm OctoMap accuracy and deployed it on an Intel Atom by optimizing particle-filter SLAM with a greedy max-likelihood update. Deep ROS 2 experience (executors, composable/lifecycle nodes, QoS, timestamping) plus simulation and deployment tooling (Gazebo C++ plugins, Docker, CI/CD, ROS 2 build farm) and drone navigation work with MAVROS/PX4.
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Key Strengths
- Designed low-compute SLAM pipeline deployed on Intel Atom
- Optimized particle-filter SLAM via greedy max-likelihood map update (scaled particles 10→100)
- Multi-threaded ROS 2 architecture using executors + composable nodes + intra-process comms
- QoS and timestamp alignment fixes that improved real-time behavior (planner latency reduced ~30%)
- Strong ROS 1/ROS 2 navigation stack experience (move_base, Nav2, DWA tuning)
- Built Gazebo C++ plugins to simulate sensors and arm motion planning before hardware integration
- Containerized ROS 2 stacks and set up CI/CD (GitHub Actions, build farm compatibility, rosdep checks)
- Multi-robot/distributed ROS 2 communication design (namespaces, remapping, DDS tuning)
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1 publication
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