As the motion planning lead:

• Defined the development roadmap of the motion planning stack.

• Balanced long-term, high-risk research projects and short-term features delivery to active products.

• Provided clear problem solving strategies and mitigated delivery risks.

As an IC:

• Developed a Time-Optimal Path Parameterization (TOPP) solution for jerk limited motions of industrial robot arms.

• Lead major refactors around our kinematics libraries and API of our Inverse Kinematics (IK) solvers.

As the motion planning lead, I established strategic partnerships with multiple groups within Google to provide key technological components for delivering a solution to plan trajectories for a dense multi-robots work cells with stringent duty cycle requirements.

As an IC, I worked on core technology related to motion planning including:

• Developed novel robot arm motion planning algorithms to optimize cycle time in a tight multi-robots workspace.

• Developed an algorithm for swept volume computation of mesh geometries with unmatched culling of inner triangles.

• Improved collision checking performance of complex mesh geometries.

• Provided analytical, real-time IK solvers for spherical wrist, UR and offset wrist robot arms.

• Implemented classic path planning (RRT, PRM, A*) and trajectory generation (time optimal, bounded jerk) algorithms.

Provided engineered solutions using industrial robots, real-time systems and sensor integration for creative use of robots in the film and visual art industry.