Scalable multi-robot mapping and autonomous exploration system in ROS 2 Humble and Webots. Orchestrates a TurtleBot3 fleet using slam_toolbox, REP-105 compliant TF trees, deterministic occupancy-grid fusion in mars_overseer, and an automated TDD CI/CD pipeline.
Engineered an autonomous multi-station coffee preparation workcell utilizing a Universal Robots UR10e 6-DOF manipulator, Robotiq 2F-140 gripper, and Intel RealSense D435 in ROS 2 Humble and Gazebo. Features analytical DH forward kinematics, Jacobian pseudoinverse trajectory tracking, singularity-free workspace optimization, and joint effort physics stabilization.