Engineering Focus
Robotics Software
Modular software architecture for robot behavior, sensing, planning, and hardware interfaces.
ROS 2 Systems
Composable ROS 2 systems, from package boundaries and launch configuration to navigation and manipulation.
Simulation & Validation
Simulation environments and repeatable validation loops for testing assumptions before and alongside hardware experiments.
Navigation, Manipulation & Developer Tools
Autonomy pipelines and practical tooling for reproducible builds, debugging, and faster engineering iteration.
Engineering Principles
- Simulation-first validation
- Explicit failure and recovery behavior
- Modular, testable software boundaries
- Developer-friendly workflows
- Open work, experiments, and technical writing
Engineering Case Studies
From Simulation to Reality: Building Reliable Robotic Sensing with AgileX Piper Arm
Case study
Waypoint-based sensing went from intermittent failure to repeatable execution across 200+ sim validation cycles.
A simulation-to-real case study on making waypoint-based robotic sensing reliable on an AgileX Piper arm through control redesign, joint-limit validation, an...
AUV Magnetic Anomaly Simulation
Research
Full underwater vehicle sim with adaptive navigation validated entirely in software before any water testing.
Underwater vehicle simulation with magnetic field modeling and adaptive waypoint navigation.
Autonomous Fruit Harvesting System
Case study
A UR10 manipulation pipeline that plans, detects, and executes picks with collision awareness — no manual parameter tuning per fruit.
Perception-driven UR10 manipulation pipeline with task planning and collision-aware execution.
Modular Reconfigurable Robotics Framework
Research
A unified control architecture that works across radically different robot morphologies — sim and hardware.
Simulation and hardware control architecture for unconventional modular manipulators.
Engineering Notes
Behavior Trees vs State Machines in Robotics: Lessons from Real Robot Workflows
A practical guide based on real robotics workflows, comparing Behavior Trees and State Machines through agriculture and patrol examples, with lessons on wher...
For: robotics teams choosing control architecture
Just Another Automation Tool for Nav2? Not Really.
Why Nav2 tuning is a systems problem, not an automation problem — and how structured benchmarks, YAML-driven experiments, and parameter design improve naviga...
For: teams tuning mobile robot navigation
Designing a Scalable AMR + Manipulator Architecture
A practical guide to designing a scalable AMR + robotic arm architecture for warehouse automation, covering ROS2, MoveIt2, Nav2, MATLAB, and simulation-first...
For: teams designing AMR + manipulator systems for warehouse automation
Kodo Robotics is an independent robotics engineering initiative by Sakshay Mahna, a Robotics Software Engineer working on robotics software, simulation, and developer tooling.