Engineer building reliable autonomy pipelines — from sensors to control.
ROS2-first stack across GNSS/NTRIP, wheel‑speed/IMU fusion (EKF), audio siren detection, CAN telemetry, and containerized deployments (Docker, CI/CD). Shipping to real hardware like NXP S32G & Raspberry Pi.
Highlighted projects
PointPerfect NTRIP Client (ROS2)
Resilient TLS client that auto‑discovers mountpoints, sends live GGA, streams SPARTN/RTCM3 corrections to a u‑blox receiver. Minimal CPU, auto‑reconnect, and metrics heartbeat. Also includes real‑time GNSS correction pipeline and slip‑aware EKF refinements for stability.
Engine Control & Optimization
Supported engine start and idle control profiling using full feedback LQR with fast‑path actuation to minimize delays and ensure closed loop torque. Developed tactical features including cost‑based optimization (predictive control) enhancements and physics‑based equations deployment.
Vx/Vy EKF with Slip‑Aware Fusion
Nine‑state EKF fusing wheel speeds, IMU yaw‑rate/accel, GPS velocities. Dynamic noise scaling under slip, low‑speed yaw freeze, and delayed measurement handling via buffer replay.
Emergency Vehicle Detection (Audio ML)
Binary siren detector derived from YAMNet embeddings with a custom TFLite model. Real‑time ROS2 node with amplitude topic, ducking logic, and CPU‑efficient resampling.
FleetPlayback (Alerts & Adverts)
Priority‑based audio mixer/player with ALSA + libsndfile. JSON‑driven mapping, duck/restore envelopes, and concurrent playback with ROS2 QoS tuning.
CAN Telemetry + Web Dashboard
SocketCAN receivers publishing to ROS2, with a lightweight web dashboard for monitoring GPS fix, wheel speeds, IMU, and system state. Dockerized with CI/CD to edge hardware.
Experience
Education & Highlights
- Controls & Mechatronics background; deep MATLAB/Simulink experience.
- Certified in Machine Learning with practical applications.
- 3 years of professional Python development experience.
- Specialized in torque path controls including cost optimization, shift energy management, creep, launch control, e‑coasting, and brake blending.
Skills
Core
Perception & Fusion
Platforms & I/O
Résumé
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Contact
Email: aveshshah@gmail.com
LinkedIn: linkedin.com/in/avesh-shah-b07b1318