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 systems engineer based in Mumbai, working across embedded firmware, ROS2 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 - integrating hardware and software into autonomous platforms that actually ship.
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 & Embedded Systems Engineer
DroneStark Technologies
- Designed an end-to-end MAVLink-to-TCP communication bridge for drone systems deployed in military research applications.
- Developed DGCA-compliant customizations of ArduPilot Copter firmware (4.6.3 and 4.5.7): parameter locking, tamper-proofing, SHA-based integrity checks and security hardening for Type Certification.
- Built the complete control architecture for a 2-wheel autonomous fire-response robot - embedded electronics, motor control and system integration.
- Architected a ROS2 Jazzy 6DOF robotic arm integrated with a differential-drive mobile robot for autonomous manipulation.
ArduPilot · MAVLink · ROS2 Jazzy · Embedded C++ · Linux · TCP/IP
Jun 2024 - Nov 2025
Embedded Systems Engineer
Oben Electric Pvt. Ltd.
- Led the BMS architecture and firmware with efficient State of Charge estimation; a custom cell-balancing algorithm cut charging time by 30%.
- Developed a Raspberry Pi-based OBD scanner for CAN logging, reducing service diagnostics and monitoring time.
- Engineered embedded firmware for an automated battery cell sorting system integrated into manufacturing lines.
- Designed secure FOTA-enabled firmware for an IoT device on FreeRTOS with MQTT/HTTP communication.
STM32 · 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 Algorithms
Python · A* · Research · Drone · AI ML · RRT
PPO vs A* for 2D drone navigation in a custom Gymnasium environment — including a live dynamic-obstacle experiment.
PPO · Gymnasium · A* · Research · Drone · Autonomous Drones
Custom 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
Differential-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
Complete 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
Q6//Manipulation
Robotic arms, inverse kinematics and MoveIt
3-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
BMS 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
Custom 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 Algorithms
Python · A* · Research · Drone · AI ML · RRT
PPO 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