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Ankush Desai
Junior Robotics Engineer specializing in ROS, perception, and robotic manipulation
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Robotics software engineer focused on ROS2 autonomy stacks, with hands-on work spanning semantic 3D SLAM, sensor fusion, and controller customization. Built an indoor GPS-denied semantic SLAM system (>95% accuracy) and extended Nav2’s MPPI controller with a custom C++ critic to keep an agricultural rover centered in crop rows, boosting CO2 laser weeding effectiveness by 40%. Strong in simulation-to-real workflows (Isaac Sim, Gazebo Ignition) and deployment automation (Docker on Jetson Orin NX, GitHub Actions CI/CD).
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Key Strengths
- Built and integrated semantic 3D SLAM in ROS navigation stack for GPS-denied indoor mapping
- Visual-SLAM + odometry fusion achieving >95% mapping/localization accuracy
- Developed dynamic obstacle avoidance logic; validated in Isaac Sim with 70% navigation efficiency improvement
- Extended Nav2 MPPI controller via custom C++ critic plugin using vision-derived cross-track error; improved weeding effectiveness by 40%
- Strong real-time debugging workflow using ros2 bag + Foxglove time-series analysis to diagnose localization jumps
- Tuned robot_localization EKF (covariances + Mahalanobis gating) to mitigate IMU vibration spikes and stabilize pose estimates
- Reproducible deployment using Docker on Jetson Orin NX and automated CI checks via GitHub Actions
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