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Shiv Harish Prabaharan
Mid-level Software Engineer specializing in systems, storage, and machine learning
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About
Robotics-focused engineer who built a non-holonomic self-driving car on Raspberry Pi 5 using ROS 2, implementing sensor fusion (robot_localization EKF), 2D SLAM (slam_toolbox), custom Hybrid A*/RRT* planners, and MPC trajectory tracking. Demonstrated strong real-time debugging and performance tuning (timestamp sync, CPU contention mitigation) and is extending the platform toward CV-based plant identification and autonomous plant watering.
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Key Strengths
- End-to-end autonomy stack development (sensor fusion, SLAM, planning, MPC) on real hardware
- Deep ROS 2 integration experience (drivers, robot_localization EKF, slam_toolbox, custom planning nodes)
- Systematic real-time debugging using rosbag/RViz and offline replay
- Strong timing/latency troubleshooting (timestamp mismatches, stale data rejection) to stabilize EKF/SLAM/MPC
- Performance optimization under compute constraints (process separation, tuning map resolution/scan rate, MPC horizon tuning)
- Architecting for future multi-robot/distributed scaling (standardized interfaces, adapter nodes, bandwidth-aware messaging, graceful degradation)
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