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Mayank Pratap
Intern Robotics Engineer specializing in autonomous navigation and SLAM
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About
Robotics software engineer with deep ROS2 Humble/Nav2 experience who built an SDF-based navigation system (RRT* global planning + gradient-based local avoidance) and implemented scan-matching localization. Proven real-time performance debugging and optimization on hardware (Unitree B1), including halving compute-cycle latency and resolving ROS2 jitter/message-drop issues through explicit QoS and executor/callback-group design.
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Key Strengths
- Built SDF-based navigation stack integrating mapping, localization, and obstacle avoidance
- Implemented scan-matching localization and RRT* global planning
- Reduced SDF compute-cycle latency from 0.1s to 0.05s via sampling/max-distance optimizations
- Deep ROS2/Nav2 customization (custom planner plugin, costmap layer, global planner, DWA controller)
- Diagnosed and fixed ROS2 real-time timing/jitter issues using QoS design plus executor/callback group isolation
- Hardware-first optimization on Unitree B1 without a simulator; cut compute cost ~30% via rate reductions and multithreading
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