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Shahmeel Naseem
Junior Robotics Research Assistant specializing in multi-robot autonomy and ROS2
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About
Graduate robotics researcher (Georgia Tech/Georgia Tech Research Institute) who helped modernize the Georgia Tech Robotarium by migrating its comms stack from MQTT to ROS2 across MATLAB/Python and updating embedded Teensy firmware for new sensors. Currently validating ToF distance sensors and integrating IMUs, with planned GTSAM factor-graph SLAM sensor fusion; also debugged and improved a decentralized coverage-control algorithm at swarm scale (1000–2000 agents) using computational geometry and literature-backed methods.
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Key Strengths
- Led migration of a multi-robot testbed communication stack from MQTT to ROS2 across MATLAB and Python backends
- Built ROS2 pub/sub and client-server interfaces for real-time motor commands and sensor/pose/battery data exchange
- Embedded firmware update experience on Teensy to support new sensors and ROS2 pipeline
- Rigorous sensor validation using ground truth (Vicon), bias removal, variance characterization, and simulation modeling
- Advanced debugging/troubleshooting in MATLAB ROS2 edge cases (e.g., stale subscriber data resolved via drawnow)
- Research-driven algorithm improvement: fixed Voronoi edge-cell issues via literature review + hybrid computational-geometry solution
- Scaled evaluation of swarm/coverage-control simulations (1000–2000 agents) with quantitative metrics (MSE) and visualization
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