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Saurabh Kashid
Mid-level Autonomy Engineer specializing in drone robotics and LiDAR SLAM
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Autonomy Engineer at Joulea Inc (Atlanta) with ~3 years building a drone autonomy stack end-to-end, spanning controls, swarm path planning, SLAM/LIO, and multi-sensor fusion (lidar/IMU/GPS RTK/camera). Notable work includes lidar degeneracy detection using Hessian-based constraints in an EKF and fusing visual odometry to reduce drift, plus ongoing lidar-camera synchronization and calibration.
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Key Strengths
- Built a drone autonomy stack from the ground up (controls, planning, SLAM, sensor fusion)
- Deep estimator/SLAM troubleshooting: residual analysis, calibration/timing fixes, gating for observability
- Lidar degeneracy mitigation using Hessian analysis and constrained EKF updates
- Swarm path planning via optimization (waypoint assignment, adjacency matrix/weighting to prevent crossings and balance distance)
- Strong ROS Noetic system design: custom messages, multi-threaded nodes, failsafe architecture, modular packages
- Robust distributed robotics communication design with time/frame sync and partial-failure fallbacks
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