Robotics software engineer with experience in developing and integrating navigation, perception, and mapping algorithms for mobile robotics systems. I am a self-driven learner who enjoys tackling complex challenges, especially in a collaborative manner.
Contributed to development of the autonomy stack for a quadcopter, with primary contributions in trajectory generation, path planning, 3D mapping, and learning-based depth estimation.
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Augmented quadcopter’s autonomy stack with trajectory generation capable of obstacle avoidance and breadth-first search for safe start and goal positions, increasing safety and reliability while flying
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Utilized runtime polymorphism to modularize navigation pipeline, improving code abstraction and allowing for multiple flight modes with unique implementations
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Evaluated stereo depth DNNs on Nvidia Jetson; calibrated Arducam sensors for disparity to depth conversion, wrote nodes to run TensorRT and ONNX models, and explored quantization options using MATLAB and Nvidia TAO
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Integrated multi-sensor OctoMap and Voxblox 3D mapping algorithms into a C++ ROS package, enabling quadcopter to map occupancy by combining input from forward- and downward-facing RealSense cameras
Worked on an automotive situational awareness system that used object detection and tracking on nearby vehicles and pedestrians to anticipate risky scenarios.
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Projected tracked objects from 2D image into 3D world to evaluate risk posed to system user
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Implemented a Kalman filter node in ROS to smooth tracked object trajectories
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Created an application with Nvidia Isaac SDK to test detection algorithms in simulation
Assisted in the characterization of electrohydrodynamic printing dynamics for a novel dual-barrel configuration, which has potential applications in printed electronics and bioengineering.
