# Saurabh Mirani

> Robotics Software Engineer

Location: San Jose, California, United States
Profile: https://flows.cv/saurabhmirani

I am extremely passionate about motion planning and SLAM, and am eagerly looking for a full-time job in this field, where I can apply my skills and expertise to contribute towards the development of cutting-edge autonomous systems.

As a fluent programmer in C++ and Python, I have an in-depth understanding of various planning techniques such as A*, D*, RRTs, and more. I have also demonstrated my ability to create real-time motion planning algorithms that have been implemented in various autonomous systems. Additionally, I possess strong mathematical and geometrical skills.

My experience with autonomous robots has allowed me to develop a solid understanding of pose estimation, SLAM, probabilistic filtering, and 3D data, which are essential for developing efficient motion planning algorithms.

I also possess a solid understanding of ROS, which is essential for designing and implementing complex autonomous systems.

## Work Experience
### Robotics Software Engineer - Human Robot Interaction @ Flexiv Ltd.
Jan 2021 – Present | Santa Clara, California, United States
• Designed and implemented a variant of Dynamic Roadmaps, for real-time motion planning under uncertainty, of a dual-arm setup
• Implemented a real-time path-following model predictive controller (MPC) using GRAMPC for continuous re-planning with Dynamic Roadmaps
• Developed and released a motion planning app consisting of optimization-based motion planning algorithms like TrajOpt using OSQP, IFOPT, sampling-based algorithms like RRT, RRT*, Descartes, and continuous collision detection algorithm using Bullet Physics thereby reducing the deployment time from weeks to hours
• Used the motion planning app for applications such as deburring, polishing, wire harness assembly, and bin picking
• Good understanding of CI/CD concepts, worked on writing docker files, improved the code coverage, involved in setting up Jenkins and bitbucket pipelines and auto packaging for the motion planning app
• Experienced in working as part of an Agile Scrum team and used Jira for bug tracking and task management

### Summer Intern @ MathWorks
Jan 2018 – Jan 2018 | Hyderabad Area, India
• Developed MATLAB module for path planning of autonomous robotic arm of high-DOF like KUKA’s LBR iiwa
• Implemented obstacle avoidance using Gilbert–Johnson–Keerthi (GJK) distance algorithm in parallel to RRT-star path planning to reduce the time complexity. The result was a refined path easily traceable by the robotic arm

### Intern @ Systemantics India Pvt. Ltd.
Jan 2017 – Jan 2018 | Bengaluru Area, India
• Improvised the motion planning for time-optimal pick and place operation of a 6 DOF robotic manipulator
• Worked on the gripping method and stack management for teach and repeat type application of the robot


## Education
### Master of Science - MS in Intelligent Systems, Robotics & Control
UC San Diego

### Bachelor of Technology (B.Tech.) in Mechanical Engineering
Indian Institute of Technology, Kharagpur

### Electrical in Electronics and Communications
Sri. Shivaji Science College, Congressnagar,Nagpur


## Contact & Social
- LinkedIn: https://linkedin.com/in/miranisaurabh
- Portfolio: https://miranisaurabh.github.io/

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Source: https://flows.cv/saurabhmirani
JSON Resume: https://flows.cv/saurabhmirani/resume.json
Last updated: 2026-04-10