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Rituraj Navindgikar
Intern Robotics Software Engineer specializing in SLAM, perception, and motion planning
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About
Robotics software engineer with hands-on experience building Visual-Inertial SLAM and ROS2 sensor-fusion pipelines for autonomous warehouse forklifts (ArcBest), including rigorous calibration (AprilTags, Allan variance, temporal sync) and recovery features like pose injection. Also implemented RL-based local planning at RollNDrive using Isaac Sim with domain randomization to bridge sim-to-real, improving real-world navigation success back to ~90% after initial deployment.
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Key Strengths
- Built Visual-Inertial SLAM for autonomous forklift localization in challenging warehouse environments
- Deep calibration expertise (AprilTags, IMU Allan variance, extrinsics + temporal sync) with quantitative validation via reprojection error thresholds
- Robustness mindset: loop-closure strategy to mitigate drift; accounts for vibration/temperature/mechanical stress over time
- Applied RL for real-time local planning; trained ~10,000 episodes and handled moving obstacles (~0.5 m/s)
- Strong sim-to-real execution using domain randomization and conservative rollout; improved real-world success from ~80% back to ~90%
- ROS2 production integration skills: time synchronization tuning, timeout handling, degraded-mode operation with higher uncertainty
- Designed recovery mechanism via pose injection into localization/EKF update step for delocalization events
- Practical debugging/observability: rosbags, diagnostics, Foxglove visualization, and custom Python dashboards
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