A mobile manipulator that navigates a store and picks products brings perception, navigation, manipulation and user-facing software into one system. I led its development and designed how those components interacted.
System design
I designed the system architecture and the interfaces between its components. This made responsibilities and data flow explicit across a stack that combined the mobile base, manipulator, perception and application services.
Development environment
To make work across the team repeatable, I created:
- A Gazebo simulation containing the store and products
- Docker containers with GPU acceleration and graphical display access
- GitHub Actions workflows for automated end-to-end tests
- A Markdown documentation site linked to the repositories' READMEs
What shaped my work
Leading the project reinforced that robotics productivity is a systems problem. Simulation, containers, tests and documentation are not secondary tasks—they determine how confidently a team can change and ship the robot software.