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AshokKumar Jakkula
Mid-level Robotics Engineer specializing in autonomous systems, perception, and simulation-to-real
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Robotics software engineer focused on real-time mapping and SLAM in unstructured environments, combining camera-based navigation, GTSAM/iSAM2 pose-graph optimization, and nvBlox ESDF mapping with strong real-time performance on both RTX 4070 and Jetson Orin. Has hands-on ROS 2 + Docker integration experience and has built Isaac Sim plugins/ROS 2 packages to make LIO-SAM work in simulation, plus work on decentralized multi-robot SLAM with heterogeneous LiDARs and edge map building.
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Key Strengths
- Built pose-factor graph SLAM pipeline with GTSAM/iSAM2 and loop closures
- Integrated nvBlox ESDF mapping in a multi-threaded real-time system (3–5ms on RTX 4070; ~7ms on Jetson Orin)
- ROS 2 systems integration across perception/SLAM/ML components using Docker-based reproducible environments
- Debugged simulation-to-ROS integration issues for LIO-SAM by developing Isaac Sim plugins and ROS 2 packages
- Experience with decentralized multi-robot SLAM and loop-closure across heterogeneous LiDAR configurations
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