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Vadivelan Murugesan
Junior Robotics Engineer specializing in ROS 2, perception, and motion planning
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About
Robotics software engineer/researcher (master’s work) who built a human-aware motion planning stack for a UR16/UR16e arm: RGB-D 3D skeleton perception in ROS2, deep-learning-based human motion prediction, and MoveIt2-integrated real-time planning with a Gazebo digital twin. Demonstrated strong real-time optimization (profiling + GPU offload with CuPy/TensorRT) and practical systems skills spanning safety validation, visualization, and low-level comms (CAN/SocketCAN) on embedded deployments (Jetson, Docker, Autoware/Ouster).
Experience
Education
Key Strengths
- End-to-end ROS2 system architecture and integration (perception → prediction/planning → control/validation)
- Robustifying noisy/occluded RGB-D skeleton tracking with filtering, confidence thresholds, and interpolation
- Real-time performance optimization via profiling and GPU offload (CuPy/TensorRT), reducing replans from 5–6s to <1s target
- Deep integration of planning with MoveIt2 and UR16/UR16e controllers plus safety checks
- Strong debugging and visualization tooling (RViz markers, predicted forces/paths)
- Hands-on hardware bring-up and tuning (camera placement, robot speeds, safety thresholds)
- CAN bus bring-up on Linux with SocketCAN and practical noise mitigation
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