Peppermint Robotics

Robotics Engineer

Rigbetel Labs

Robotics Software Developer (Intern)

• Constructed Reactive Robot Behavior utilizing BehaviourTree.CPP.
• Developed Odometry system for Autonomous Mobile robots with the help of LiDAR and IMU sensors using Extended Kalman Filter and Iterative Closest Point algorithms to improve accuracy to 4cm.
• Implemented Dynamic Prohibition Layers, enabling the addition or removal of prohibited areas based on user specifications.
• Integrated Checkpoints within warehouse AMRs to facilitate task resumption directly from designated checkpoints, thereby eliminating the need to return to home or docking position, reducing time factor by 10%.

PICT Robotics

Lead Robotics System Designer

• Led a team of 9 to design and develop modular code-base to semi-automate ABU Robocon 2023 Robots using ROS.
• Integrated data from an IMU and Optical Flow Sensor to enhance robot Localization and provide accurate odometry.
• Resolved ESP32 pin count limitations by crafting a Motor Controller HAT using Atmega328p micro-controller, communicating via I2C protocol for each Swerve pod.

Kanan Park

Electronics Engineer (Intern)

• Developed control software with a Teensy microcontroller as the master to interface with RC transmitter, and Atmega328 as the slave to manage PID control for swerve pods.
• Established communication between Atmega328 and Teensy via MAX485 (TTL to RS485) with acknowledgment for synchronized data transmission.