• Retuned PID gains on a 500-lb quadrotor by developing a post-flight response-identification tool to estimate loop dynamics; reduced cross-track error by

50% and hover RMS error by 40%

• Built a vibration health-monitoring tool that computes power spectral density (PSD) and aggregates vibration metrics; enabled per-airframe trending and

fleet-wide comparisons for anomaly detection

• Diagnosed hardware/software anomalies across the system; improved autonomous flight performance, vibration, and motor-controller reliability

• Maintained a PX4 fork; added a safe-RTL auto-land mode and adapted flight-controller software for large-airframe operation

• Built a PX4 offboard controller for minimum-snap trajectory tracking

• Mentored junior developers in advanced autonomy techniques and proper coding practices like modern C++

• Software lead for a visual-inertial navigation system enabling a UAV swarm to track multiple moving targets in GPS-denied environments

• Developed magnetometer and barometer measurement factors with analytically derived Jacobians

• Built a Bayesian hyperparameter-optimization pipeline to tune noise covariances; reduced per-kilometer drift by 60%

• Implemented an MCMC-based data-association algorithm for target tracking with intermittent detections

• Authored a winning proposal for a funded collaboration on certifiable optimization

Developed a C++ library to perform graph-based, distributed second-order optimization using a novel algorithm that exceeds baseline solver performance

• Resolved persistent Kalibr failures by instituting a rigorous data-collection protocol (excitation-rich motions, full target coverage, exposure/time-sync

checks), enabling successful calibration of an 8-camera + IMU rig.

• Assisted in the algorithmic development and testing of "Mobile MoCap", a retroreflector-based motion capture system presented at 2023 IEEE Conference

on Automation Science and Engineering

Teaching assistant for the classes Robot Sensing and Navigation

● Coordinated with Professor Hanumant Singh to run lab times, office hours and tutorials

● Helped students gain familiarity with Linux Operating Systems, Git, ROS, GPS & RTK GPS data processing, IMU data processing, Image Processing, and Visual SLAM

● Gave lectures on relevant materials as needed

● Performed code reviews and grading of student projects

Teaching assistant for Mobile Robotics

● Coordinated with Professor David Rosen to run lab times, office hours and tutorials

● Lectured and tutored students on the fundamentals of Mobile Robotics including SLAM, Kalman Filters and Lie Theory

● Designed PCB For communicating with generic encoder interfaces

● Upgraded and Maintained Altium Parts/PCB Libraries to Altium 365

● Design ROS Package for robot localization using a local lidar and deployable field targets with 2mm accuracy

● Assisted in general test and development for robotic prototyping