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Vishesh Kumar
Intern Software & AI Engineer specializing in distributed systems and LLM applications
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About
Stony Brook Fall 2024 capstone contributor who built a ROS2-based warehouse mobile robot prototype, owning perception and SLAM integration end-to-end. Strong in real-time robotics optimization on Jetson Orin (TensorRT/CUDA, ROS2 tracing/Nsight) and in distributed ROS2 communications (DDS discovery/QoS, MAVLink-to-ROS2 bridging), with a full simulation/testing/deployment toolchain (Gazebo, CI tests, Docker/K3s).
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Key Strengths
- Designed and integrated perception + SLAM stack for ROS2 warehouse mobile robot prototype
- Built camera-LiDAR fusion pipeline (YOLOv8 + PCL) and optimized inference with TensorRT on Jetson Orin
- Resolved sensor timestamp drift using ROS2 message_filters approximate time sync and checkerboard calibration
- Real-time performance profiling and latency reduction using Nsight Systems, ROS2 tracing, and CUDA offloads
- Deep Nav2 debugging (DWB, QoS/backpressure, costmap resolution) to eliminate jerky navigation and missed waypoints
- Distributed robotics communication design using ROS2 DDS, discovery server, namespaces/TF frames, and QoS per stream
- Simulation-to-deployment workflow: Gazebo/ros2_control plugins, automated testing (pytest/launch testing), Docker + K3s edge deployment
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