Swarm SITL
2026Four-drone swarm simulation on ArduPilot SITL — a leader flies a KML mission while three followers mirror it over MAVLink.
ArduPilot · SITL · PyMAVLink · QGroundControl · Python · Drone
Q1//About
Sohan Kuna
I build autonomous robots and drones - from bare-metal firmware to ROS2 systems.
Robotics and embedded systems engineer based in Mumbai, working across embedded firmware, ROS 2 robotics, autonomous systems and drone communication architecture. I design end-to-end robotic and embedded solutions - electronics, Linux systems, firmware, MAVLink and CAN communication, and robotic control - and integrate the hardware and software behind autonomous robots, UAV platforms, EV battery systems and connected IoT devices.
B.E. in Electronics and Telecommunication Engineering, Vidyalankar Institute of Technology, Mumbai University (2020-2024, 9.4 CGPA). 2nd runner-up in the Water Rocket Challenge at the Technoxian World Robotics Championship, where I also competed in the Maze Solver Challenge.
Q2//Experience
Dec 2025 - Present
Robotics Engineer
DroneStark Technologies
- Built the end-to-end control system for the IDEX autonomous rover: architecture, wiring harness and BLDC hub motor, with an NVIDIA Jetson Orin as high-level computer and an STM32 running Ackermann steering and safety checks.
- Wrote a MAVLink-to-TCP bridge running as a Linux service on the Jetson, streaming rover telemetry and health status to the client's edge ML pipeline on the same platform.
- Developed DGCA-compliant ArduPilot Copter firmware (parameter locking, tamper-proofing, SHA integrity checks) for Type Certification, kept consistent across the 4.6.3 and 4.5.7 release lines.
- Built the control architecture for a two-wheel autonomous fire-response robot, and architected a ROS 2 Jazzy 6-DOF arm on a differential-drive base for mobile manipulation.
Jetson Orin · STM32 · ArduPilot · MAVLink · ROS 2 Jazzy · Embedded C/C++ · Linux
Jun 2024 - Nov 2025
Engineer (R&D)
Oben Electric Pvt. Ltd.
- Led the Battery Management System architecture and firmware, including State of Charge estimation; a custom cell-balancing algorithm cut charging time by 30%.
- Implemented cell monitoring, protection logic and CAN reporting of cell and pack data on automotive-grade STM32 / NXP S32K microcontrollers.
- Built a Raspberry Pi-based OBD scanner for CAN bus logging, reducing service diagnostics and monitoring time.
- Designed secure, FOTA-enabled firmware for a FreeRTOS IoT device with MQTT/HTTP cloud communication.
STM32 · NXP S32K · CAN · FreeRTOS · MQTT · Raspberry Pi · Embedded C
Q3//Drone Automation
MAVLink, ArduPilot, swarms and certified flight
Q4//Research
Research projects designed to expand knowledge.
Path Planning : A*, RRT, RRT*
2026Path Planning Algorithms
Python · A* · Research · Drone · AI ML · RRT
RL Drone Path Planning
2026PPO vs A* for 2D drone navigation in a custom Gymnasium environment — including a live dynamic-obstacle experiment.
PPO · Gymnasium · A* · Research · Drone · Autonomous Drones
DGCA-Certified ArduPilot Firmware
2026Custom ArduPilot Copter firmware hardened for DGCA Type Certification — parameter locking, tamper-proofing and SHA integrity checks.
ArduPilot · C++ · Embedded · Security
Q5//Mobile Robot
SLAM, Nav2 and mobile robots that find their own way
Slambot: ROS 2 SLAM with Ignition Gazebo
2025Differential-drive robot with a 360° lidar doing real-time SLAM and autonomous point-to-point navigation on the Nav2 stack.
ROS2 Humble · SLAM · Nav2 · Lidar · Ignition Gazebo
Autonomous Fire-Response Robot at DroneStark
2026Complete control architecture for a 2-wheel autonomous fire-response robot — electronics, motor control and system integration.
Embedded C · Motor Control · Electronics · Linux
ROSforge
2026A multi-agent AI workflow that turns natural language into working ROS2 code — specialist agents scaffold, build, simulate and debug.
ROS2 Humble · Claude Code · MCP · Agentic Orchestration · Open Source
Autonomous Rover Control System (IDEX)
2026End-to-end electronics and control for an autonomous rover - Jetson Orin high-level computer, STM32 vehicle controller with Ackermann steering, and a MAVLink-to-TCP telemetry bridge.
Jetson Orin · STM32 · MAVLink · TCP/IP · BLDC · Ackermann Steering
Rocker-Bogie Rover on ROS 2
Six-wheel rover with rocker-bogie suspension, controlled through ROS 2.
ROS 2
Q6//Manipulation
Robotic arms, inverse kinematics and MoveIt
3-DOF Robotic Arm Simulation with ROS 2 + Gazebo + Moveit
20263-DOF(Degrees of Freedom) arm with MoveIt inverse kinematics — publish a target pose and the IK executor drives the arm to it.
ROS2 Humble · MoveIt · ros2_control · RoboticArm · Research
ROSforge
2026A multi-agent AI workflow that turns natural language into working ROS2 code — specialist agents scaffold, build, simulate and debug.
ROS2 Humble · Claude Code · MCP · Agentic Orchestration · Open Source
Q7//Embedded & Firmware
STM32, CAN, RTOS — bare metal that ships
Designed and Architected BMS Firmware at Oben Electric
2024–2025BMS architecture and firmware for electric motorcycles — SOC estimation, CAN communication, and a cell-balancing algorithm that cut charging time by 30%.
Embedded C · CAN · FreeRTOS · NXP S32K · MQTT
Autonomous Rover Control System (IDEX)
2026End-to-end electronics and control for an autonomous rover - Jetson Orin high-level computer, STM32 vehicle controller with Ackermann steering, and a MAVLink-to-TCP telemetry bridge.
Jetson Orin · STM32 · MAVLink · TCP/IP · BLDC · Ackermann Steering
DGCA-Certified ArduPilot Firmware
2026Custom ArduPilot Copter firmware hardened for DGCA Type Certification — parameter locking, tamper-proofing and SHA integrity checks.
ArduPilot · C++ · Embedded · Security
Q8//AI & Tooling
Reinforcement learning and AI-assisted robotics workflows
Path Planning : A*, RRT, RRT*
2026Path Planning Algorithms
Python · A* · Research · Drone · AI ML · RRT
RL Drone Path Planning
2026PPO vs A* for 2D drone navigation in a custom Gymnasium environment — including a live dynamic-obstacle experiment.
PPO · Gymnasium · A* · Research · Drone · Autonomous Drones
ROSforge
2026A multi-agent AI workflow that turns natural language into working ROS2 code — specialist agents scaffold, build, simulate and debug.
ROS2 Humble · Claude Code · MCP · Agentic Orchestration · Open Source