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Darsh Pathikbhai Patel
Junior Robotics Engineer specializing in SLAM, perception, and embedded motion capture
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About
Robotics software engineer with hands-on SLAM, ROS2, and distributed multi-robot systems experience. Improved MAST3R-SLAM loop-closure place recognition by changing the ASMK/ASMKS retrieval similarity metric (L2→L1) and validated on 9 TUM sequences, keeping near real-time performance despite a 25–30% retrieval cost increase. Also tuned MoveIt motion planning for a 6-DOF arm (12% higher maze completion rate) and built MQTT mesh communications for ESP32-based AMRs, using Gazebo+Docker and CI-style automation for reproducible testing and deployment.
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Key Strengths
- Improved SLAM loop-closure robustness by modifying retrieval metric (L2 to L1) while maintaining global consistency safeguards
- Metrics-driven validation on 9 TUM RGB sequences (ATE, loop-closure consistency, runtime/FPS)
- Balances robustness vs. false positives via similarity distribution analysis and thresholding
- Real-time performance optimization under constraints (kept near real-time despite 25–30% retrieval cost increase)
- ROS2 integration expertise: resolves TF and timestamp mismatches using RViz TF validation, ros time, and message filters
- MoveIt motion planning debugging and tuning (collision checking resolution, constraints, sampling) improving success rate
- Delivered measurable reliability gains in motion planning (12% increase in successful maze completions; reduced jerky trajectories)
- Designs scalable multi-robot communication architectures (MQTT topic hierarchy; heartbeat/status/task messaging)
- Distributed systems latency/synchronization management via ROS2 QoS tuning, decoupling topic rates, throttling, buffering
- Simulation-first and reproducible deployment workflow using Gazebo + Docker with automated regression testing
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Experience
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Publications
1 publication
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