Gaurav Kapoor

Research Focus: Cloud Robotics

Research Assistant at the Institute of Computer Engineering (ITI) 1. Currently working in the MOVE (Monitoring of vegetation and water quality using MONSUN micro-AUV swarms) project sponsored by the BMBF. 2. Responsible for the hardware and software development of the MONSUN robots. This consists of development of algorithms for autonomous behaviour of the underwater robots based on ROS with C++. 3. Also responsible for the practical exercises in the Mobile Robotics course.

Master Thesis Topic - Comparison of the Different Solutions of a Mobile Robot Outdoor Localization using the ROS 2 Components. 1. Comparison of the 3D lidar-based localization algorithms with ground truth data RTK (real-time kinematic) GNSS receiver positions 2. Robot used - MATTRO ROVO 2 3. Sensors used - Ouster OS1-128 3D lidar sensor with IMU, wheel encoders for odometry and Emlid Reach M+ RTK GNSS receiver. 4. Software framework used - ROS 2 in Ubuntu 20.04 5. Programming language used - C++ and Python

1. Developed ROS 2 C++ driver to send and receive velocity increments from the wheel encoders of the mobile robot (MATTRO ROVO 2) through the CAN bus. The velocity increments received are integrated to estimate the 2D pose of the robot as an Odometry message. 2. This Odometry message is published to a ROS 2 topic which is used as an input sensor data for the localization algorithms.

Advanced Engineering Mathematics

GPA - 1.8 (German grade)

CGPA - 7.25/10