Yash Shah

Autonomous robot navigation, 3-D mapping and SLAM algorithms for mobile AGV's using LIDAR sensors, with in ROS framework. Deploying multiple AGV's for autonomous navigation in a large work field, by merging individual maps created by each AGV. Combining ROS and OPC UA communication protocol for completely independent and efficient access of the multiple robots. Python and C++ were used as programming languages.

Successfully completed the task, for needle placement inside the human phantom with 7-DOF Franka Panda robot using ROS framework. Calibration of Azure Kinect camera mounted on the top of the robot, using OpenCV libraries and QR24 algorithm. Processing point cloud data of kinect to register the phantom in world coordinates using Open3d libraries. Insertion of needle by doing, path planning with obstacle avoidance and the trajectory planning with satisfying all constraints.

Remote approach in machine to machine communication with ROS and cloud services bringing new concept for Internet of Robotic Things (IoRT). The whole task was based on a robot exactly following all the activities performed by another robot, based on the specualtion that these two robots can be located differently at any parts of the world. The application was precisely designed with ROS controlling the motors inside the robot and cloud services used for connecting the robots.

Building the simulation of fully autonomous car in Gazebo, with bringing the obstacles and designing the whole path for the car. Gained primary knowledge for ROS, that helped in the further projects. Being the part of driverless team, got to learn all the concepts for the path planning, computer vision and obstacle avoidance using LIDAR and cameras.