MANAV
PARIKH
Architecting autonomous systems, competition-grade hardware,
and custom path planning algorithms from the ground up.
ROS2 Navigation
Stack
Full autonomous navigation stack for competition robots. SLAM Toolbox for live cartography, AMCL for probabilistic Monte Carlo localisation, and an EKF fusing wheel odometry with IMU data into a robust pose estimate.
Custom Path
Planning
From-scratch trajectory generation as Nav2 plugins. Hybrid A* with Dubins primitives for differential drive; holonomic velocity decomposition for the 3-wheel swerve platform. Engineered for kinematic feasibility from the first line.
3-Wheel Swerve
Drive
Holonomic platform capable of simultaneous independent translation and rotation. Fully decoupled heading control — translate in any direction while facing an arbitrary field-relative orientation. Critical for precision competition tasks.
Competition
Hardware
End-to-end SolidWorks assemblies, structural stress testing, motor selection, and competition-grade aluminum chassis fabrication. Two-time national podium. These machines work under pressure.
Self-Balancing
Robot
Engineered for the Robofest 4.0 competition. Implemented a robust control system combining sensor fusion (IMU & encoders) to maintain continuous inverted pendulum balance. Successfully designed the architecture and passed both the design report and proof of concept stages with the team.