Jerin Peter - Robotics Portfolio

Education

University of California, Riverside

MS in Robotics with focus on control & navigation

CGPA: 3.88 / 4.0

Courses: Programming Practical Robots, Kinematics & Dynamics of Robots, Reinforcement Learning, Optimal Control & Estimation, Computational Methods for Robotics, Fundamentals of Machine Learning, Foundations of Robotics, Linear Control Systems

Rajagiri School of Engineering & Technology

Undergraduate in Electronics & Communication Engineering

CGPA: 8.14 / 10.0

Courses: Robotics and Industrial Automation, Machine Learning, Real Time Operating Systems, Control Systems, Digital Signal Processing

Cochin Refineries School

High School (12th Grade) with Major in Computer Science

CGPA: 8.60 / 10.0

Courses: Computer Science (C++, SQL), Mathematics, Physics, Chemistry

Projects

Multi-Robot Navigation using RMF and TurtleBot3

Multi-Robot Navigation using Open-RMF and TurtleBot3

Coordinated fleet management and navigation in a using Open-RMF, ROS 2, and TurtleBot3 robots. Demonstrates task scheduling, traffic management, and collision-free delivery in complex indoor layouts.

RMF
ROS 2
Multi-Robot Coordination
Gazebo Simulation
Fleet Management
Navigation

Autonomous Indoor Delivery Robot

Developed an autonomous indoor delivery robot using ROS for precise path planning. Integrated sensor fusion (Lidar, Wheel odom, IMU) with EKF for high accuracy localization. Designed a PyQT-based GUI for easy user interaction and voice control.

ROS
Path Planning
Sensor Fusion
Extended Kalman Filter
PyQT GUI
Voice Control
Interactive
Solid Works

Plate Cleaning Robot

Developed an automated plate-cleaning system with an ABB IRB 120 robotic arm using inverse kinematics and PD control for spiral motions. It features efficient trajectory planning and enhanced reliability through random plate positioning and robust task space design.

Matlab
ABB IRB 120
Inverse Kinematics
PD Control
Trajectory Planning
Automation

Multimodal Calibration Dataset

A versatile multimodal calibration platform that uses robotic arms and a high-precision MoCap system to collect diverse extrinsic data between cameras and LiDAR sensors across both static and dynamic configurations.

ROS
Camera-LiDAR Calibration
Manipulation
MoCap
Extrinsic Calibration
Data Collection

4WD Outdoor Navigation Robot

Developed a 4-wheel drive robot with a 3D camera for real-time appearance-based mapping and navigation in GPS-denied environments.

3D Vision
Appearance-based Mapping
Real-Time Navigation
GPS-Denied Environments
Visual inertial odometry

Autonomous Navigation of a Mecanum Robot Using DQN in ROS 2

This project implements DQN in ROS2 for autonomous navigation of a mecanum-wheeled robot. The robot learns to reach its target while avoiding obstacles in a simulated environment.

ROS2
Deep Reinforcement Learning
Mecanum Kinematics
Autonomous Navigation
PyTorch
Simulation

Mini Indoor Autonomous Nav Bot

A mini autonomous navigation robot based on the LinoRobot Repository.

ROS
Embedded Systems
Sensor fusion
Indoor Navigation
Control Systems
Fusion 360

Holonomic Autonomous Navigation Mobile Robot

Mecanum Wheel Based Nav. Robot

An implementation of autonomous navigation with a sampling-based trajectory planner and drift control using PID.

Mecanum Drive
Autonomous Navigation
PID Control
Sampling-based Planning
Drift Control

Turtlesim based Game in ROS

A game made with TurtleSim in ROS, where the task is to drive the turtle around a predefined path without going out of the line.

ROS
Turtlesim
Basic Path Following
C++

RTK GPS Based Outdoor Nav. Bot

Autonomous navigation with sensor fusion and RTK GPS.

Outdoor Robotics
RTK GPS
Sensor Fusion
Localization
Path planning
State estimation

All-Terrain Medical Security Phase Shifting Rover

Designed a modular rover for disaster management with adaptive height/width adjustments and toxic gas detection.

Rover Design
Adaptive Mechanisms
Toxic Gas Detection
Disaster Management
All-Terrain Robotics

Simple chat Application based on talker and listener node in ROS

Implemented a chat-like application consisting of 2 nodes in ROS, demonstrating basic subscriber-publisher communication with multithreading via AsyncSpinner.

ROS
Publisher-Subscriber
AsyncSpinner
Multithreading
Node Communication

Lane Following Robot

OpenCV-based lane following algorithm implementation.

Computer Vision
Lane Detection
OpenCV
Real-time Image Processing
Basic Robotics

4 Legged Spider Robot

Studied inverse kinematics for legged motion and implemented different gait patterns.

Legged Robotics
Inverse Kinematics
Gait Generation
Mechanical Design
Motion Control

Automatic Soap / Sanitizer Dispenser

Rack and pinion based soap dispenser system.

Automation
Mechanical Design
Rack and Pinion
Microcontroller
Sensor Integration

Water Body Cleaning Robot

A prototype of an autonomous water cleaning robot with GPS-based mission planning to cover a water body and collect waste.

Environmental Robotics
GPS Navigation
Mission Planning
Waste Collection
Autonomous Navigation

Racing Drone with CC3D

PID-tuned racing drone capable of performing stunt maneuvers.

Drone Racing
PID Tuning
CC3D Flight Controller
Aerodynamics
Aerial Robotics

Fully 3D printed Robot Arm

Innovative 3D-printed robotic arm with advanced control features.

3D Printing
Robotic Arm Design
Control Systems
CAD
Prototyping

Fully 3D printed biped robot with voice control

Walking biped robot with obstacle avoidance and voice control.

Biped Robotics
3D Printing
Voice Control
Obstacle Avoidance
Gait Planning

Home Automation using IOT

NodeMCU-based control of sockets using IFTTT and Gassit.

IoT
Home Automation
NodeMCU
IFTTT
Embedded Systems

RC offroad car with drift control

RC dirt car featuring flip detection and control switching for stable off-road driving.

RC Vehicle
Drift Control
Flip Detection
Embedded Systems
Radio Control

Experience

OpenMind AGI

Robotics Engineer

Sept 2024 - Present

Responsibilities

Integrated LLM function calling with OM1 platform enabling natural language navigation commands and semantic location mapping, reducing operator training time by 75%.
Deployed ROS2 autonomy stack interfacing foundation models (LLM/VLM) with Unitree Go2 quadrupeds, achieving 40% faster task completion.
Engineered AprilTag-based docking system with predictive battery management, achieving 98% docking success rate.
Implemented Nav2 with STVL and 4D LiDAR fusion for VLM-processed 3D mapping with 95% semantic accuracy.
Developed containerized Flask APIs orchestrating SLAM, navigation, and inference across robot fleet.

LLM / VLM ROS 2 Python SLAM Docker

UC Riverside

Robotics Instructor - Summer Camp

2024

Responsibilities

Developed curriculum and taught ROS fundamentals and robotics workflows to students.
Led hands-on workshops on robotics development.

Teaching ROS Curriculum Design Mentorship

IIT Palakkad Technology IHub Foundation

Project Engineer - Mobile Robotics

Jul 2023 - Feb 2024

Responsibilities

Engineered modular ROS2-based control stack with Nav2 integration, reducing integration time by 15%.
Developed real-time PID controllers in C++ with adaptive gain scheduling, improving trajectory accuracy by 90%.
Fused RTK GPS, IMU, and wheel encoders using EKF to achieve sub-5 cm outdoor accuracy.

Open-RMF ROS 2 C++ Nav2 Sensor Fusion

Asimov Robotics

Software Intern - ROS Developer

Aug 2022 - Jun 2023

Responsibilities

Migrated legacy ROS nodes to Ubuntu 20.04 & ROS Noetic with documentation, reducing runtime lag by 20%.
Developed and validated robust sensor-fusion workflows with calibration tools, reducing drift errors by 10%.

ROS Noetic Python Sensor Fusion Calibration

TiHAN

Research Assistant & Community Development

Aug 2021 - Oct 2021

Responsibilities

Assisted in research related to autonomous ground vehicles (AGVs).
Contributed to the development of dataset collection tools for navigation stacks.
Organized and led technical workshops to foster the robotics community.

Research AGV Data Collection Community