• Managed the creation, from the ground up, of a complex autonomous vehicle platform from high-level architecture to code

• Deeply involved in the company’s leadership: milestone setting, priority planning, and structuring to scale with growth

• Built teach-and-repeat navigation system using Extended Kalman Filter with RTK to achieve sub-centimeter localization

• Created hardware drivers (for radar, GNSS, drive-by-wire system, etc.) in C/C++ using CAN, UART, and TCP/IP

• Developed client-facing software and custom communication protocol to lay out plan for and control vehicle remotely

• Developed a suite of visual and analytic tools to validate and present progress to investors using FLTK/OpenGL/C++

• Integrated almost two dozen software modules across devices, from drivers to planners, using ROS 2 on Linux

• Rigorously field-tested vehicle to spur QOL improvements and incremental upgrades to software and user experience

• Wrote in-depth technical and non-technical documentation for engineers and investors using Markdown, Word, and Excel

• Performed key administrative functions: sourcing hardware, recruiting/onboarding newcomers, performing investor demos

• Developed ROS-like middleware-agnostic (MWA) software framework to manage complex, concurrent positioning system

• Designed and built Hardware-in-the-loop (HIL) simulation bench from ground up to expedite validation process

• Created library to generate vehicle trajectory from fiducial markers using modern polyline-offsetting algorithm

• Implemented feature to record and analyze runtime metrics from MWA system, for ease of testing

• Created client-facing OpenGL tool to visualize fiducial markers in 3D environment around autonomous vehicle in real-time

• Created multiple validation-assist tools and HUD elements using OpenGL and FLTK, and performed field testing with them

• Scripted several data analysis tools using Bash to generate useful metrics on logged field data collections

• Outlined in-depth regression test plan from scratch on Azure DevOps to validate team progress after every Agile sprint

• Read research papers monthly to keep up with state-of-the-art algorithms and held seminars to present findings to team

• Improved localization time and scope by suggesting and implementing new algorithm to replace inefficient system

• Confirmed viability of autogenerated Guidance Navigation & Control (GNC) C++ code to be used for new Orion spacecraft

• Implemented changes to Mode Transition and State Transfer systems in Orion to suit Software Requirement Specifications

• Read through all source material to familiarize myself with specific Orion systems and general architecture

• Made video capturing/recording software for GenICam-integrated cameras using C#, C++, and Python

• Built user-friendly UI to interact with camera software using C#/WPF, which was deployed in the final release

• Rigorously debugged software using .NET, Visual Studio, and Windows 10 tools

• Managed a team of 18 programmers using the Scrum framework to delegate tasks and integrate different software features

• Enforced documentation/Git workflow standards to harmonize integration of features into each other and into the robot

• Made, scheduled, and delivered lectures on topics in robotics (up to 3 per week) to newcomers to the team

• Made wireless communication protocols (robot to Intel Nuc) using MQTT/C/Python for the ESP8266 chip

• Implemented robot localization with stereoscopic camera and ARTags, OpenCV; integrated using Robot Operating System

• Improved robot stability while operating autonomously using a PID controller

• Participated heavily in robot design and strategy planning (including proofs of concept and autonomous strategy)