• Recruited and lead a team of students who work on our AI, introspection tools and robot software

• Developed robot architecture for a new fleet using Jetson Nanos

• Implemented motor control software on embedded linux with the PreemptRT patch for Trinamic TMC4671 and TMC6100 chips in C++

• Worked closely with the electrical team on board bring-up and diagnosing schematic and layout issues

• Developed an AI introspection tool using pyqtgraph to visualize our AI (evaluations, world and robot state)

• Developed a protobuf logging system with seeking and playback, significantly improving debugging

• Developed the TCP/IP communication architecture for the robots on FreeRTOS using lwIP

• Developed a thread-safe parameter system in C++ , to tweak AI game-play during run-time

• Implemented robot behavior and high level strategy (ex. Goalie, Passer, Receiver)