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Sahil Kakadiya
Junior Embedded Systems & Wireless Software Engineer specializing in BLE/Wi-Fi performance
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About
Master’s capstone contributor on an autonomous rover navigation project, serving as an embedded/robotics software designer. Built low-level wheel control and odometry from encoders, integrated RealSense and RPLidar via ROS, and solved sensor-fusion/coordinate-frame issues by creating custom TF transforms. Used Gazebo to debug sim-to-real behavior and improved reliability on rough terrain by moving to dual-channel encoders when IMU data proved unreliable.
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Key Strengths
- Designed and implemented low-level wheel control with encoder feedback for rover odometry
- Integrated and fused multi-sensor data (RealSense, RPLidar, encoders) by building custom TF/coordinate frames
- Debugged sim-to-real issues using Gazebo; improved robustness by switching from single-channel to dual-channel encoders
- Built/testing navigation behaviors using ROS tooling with real-time telemetry and FSM-based logic
- Hands-on end-to-end autonomous rover build (hardware + electronics + control software + navigation stack)
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