Vivek Rathi Email & Phone Number

Pittsburgh, Pa, Us

Menlo Park, Ca, Us

Meta Reality Labs Research

Sunnyvale, Ca, Us

• Worked on Astro - Amazon’s first home robot• Created framework for Reinforcement Learning integrating Open AI Gym, ROS mobility stack & gazebo simulation for Astro.• Investigated and deployed RL model cost function for frontier planning in exploration stack for large-scale mapping enabling constant time cost computing on Astro robot saving exploration time by 35%.• Devised path planning planners and interfaces for Exploring New Room and Dynamic Obstacle Aware Navigation features for autonomous exploration with visualizations in RViz in C++.• Explored obstacle aware rotation for docking by changing the behavior tree and motion planning.• Executed corner detection algorithm for dock detection using traditional computer vision and projection techniques for next-gen Astro robot decreasing compute time by 20 ms as opposed to the existing algorithm on Astro.• Improved OpEx mechanism for ROS logging, debugging and unit testing by updating build systems.• Lead Bug Triaging in the team and resolved critical bugs from exploration & docking software stack.• Owned features exploration and docking as secondary STO.

Raleigh, North Carolina, Us

• Developed simulation software for aquatic robots and drones.• Created gazebo plugins and interfaces for aquaculture simulation.• Mined ROS distro database to find patterns for maintainability using HPC Henry2 and published paper in ICRA 2022 on the same.

Marathon, Florida, Us

•Developed Navigation Stack integrating Simultaneous Localization and Mapping (SLAM) and VisualSLAM for Mobile Robots.•Deployed bug-free The Elastic Band (TEB) local planner, Real-Time Appearance-Based Mapping (RTABMap) high frequency data transmission i.e. images.•Applied Extended Kalman Filter (EKF) for robot localization, Proportional, Integral & Differential (PID) velocity control.•Included RQT (Qt framework) tools for unmanned vehicle software stack.

Raleigh, North Carolina, Us

•Developed 3D vision techniques for processing and fusing 3D depth and RGB imaging to extract shape characteristics using Machine Learning & Simultaneous Localization and Mapping (SLAM) techniques.•Scripted python based data collection using Intel D435i camera.•Integrated Lidar in Robot Operating System (ROS) to generate 3D point cloud for plant phenotyping.

St. Louis, Mo, Us

•Implemented high-level control decisions of feed forward and cascade control for industrial automation on batch (ISA S88.01) projects in a team of 5 using Emerson’s DCS system DeltaV improving quality of the deliverables 9.5/10 from Project Manager.•Designed Equipment Modules for distributed control using SFC algorithm saving 50% of programming time.•Delivered human-centered graphical displays for supervisory control and data acquisition.

Singapore And Pune, Others, Sg

•Headed the hardware & firmware development of IoT prototype SMART Management of Bins operating M0516LDN with bootloader, IAP, WDT, FOTA features.•Programmed UART, TCP, HTTP, UDP, GSM, GNSS interfaces in C for sensor data abstraction and handling.•Analyzed Haar Cascade algorithm and TensorFlow API laying framework for object detection and tracking in Self Driving Bot.

Mumbai, Maharashtra, In

•Devised inexpensive hardware solution for project OpenPLC (Open Source Programmable Logic Controller) , with system architecture partly compatible to IEC-61131 standards.•Demonstrated PLC by writing C programs for hardware interfaces in cruise control system.

Master'S Degree, Electrical Engineering

Bachelor Of Technology (Btech), Instrumentation And Control Engineering