Vivek Agarwal

About

Robotics software engineer who built a full autonomous navigation pipeline on TurtleBot3 in ROS2 from bring-up and SLAM through custom A* planning, obstacle avoidance, and frontier exploration—without relying on Nav2. Demonstrated strong debugging and performance optimization (QoS fix with AMCL; reduced exploration mapping time from ~12 to <7 minutes) and brings 2+ years of HPE cloud/edge deployment experience with Docker/Kubernetes/Helm and GitHub Actions.

Key Strengths

• Built end-to-end custom ROS2 navigation stack without Nav2 (bring-up/SLAM/planning/avoidance/autonomy)
• Improved A* reliability on changing occupancy grids using obstacle inflation, safety margins, and fallback to RRT* with replanning
• Debugged ROS2 AMCL pose update issue by identifying QoS incompatibility and fixing subscriber QoS settings
• Optimized frontier exploration strategy (heading-aware, local-first) cutting mapping time from ~12 minutes to <7 minutes
• Strong simulation workflow using Gazebo + RViz for sim-to-real validation
• Cloud/edge deployment experience from HPE using containers, Helm, Kubernetes, and GitHub Actions