• Led the technical side of projects from product planning through implementation and deployment
• Built real-time probabilistic mapping frameworks for 2d and 3d, for planning and visualization applications (OpenCV, octomap, and in-house mapping solutions)
• Implemented sampling-based global planning with OMPL
• Designed and built complex state machines using behaviour trees and hierarchical finite state machines in both C++ and python
• Maintained custom middleware implementation that supported C++ and python
• Architected and released extensible, backwards-compatible APIs that are used by customers in the field for controlling autonomous robots, both on-device and in the cloud
• Worked with customers from integration phase through on-site deployments of drones and ground robots
• Implemented and enforced company-wide software standards for production-quality code -- including mentoring new employees on high quality code standards via code reviews, unit tests, etc.
• Architected company-wide build system, which was hybrid of cmake and bazel, for reproducible, hermetic builds and easy release management
