CLAMS: localization calibration and mapping. Implementing the SLAM pipeline at Zoox. ML/AI in pose estimation.

Localization calibration and mapping. Lidar and visual inertial odometry. Graph SLAM based smoothing and mapping, structure-from-motion, lidar odometry and mapping,

lidar-inertial SLAM/odometry, lidar-IMU and lidar-lidar calibration. Use of Factor Graphs to achieve the aforementioned tasks.

Software quality maintenance and adherence to ASPICE and ISO-26262 safety standards.

Projects:

1. Principal Investigator for a GPU based high-performance Monte Carlo simulator for fire control schedulers using radar feedback.

2. Signal processing and state/parameter estimation software development for a low-cost INS/IMU platform for navigation without GNSS/GPS fix.

Projects:

1. Back-end developer for a gate-to-gate large-scale concurrent air traffic simulator for National Airspace System. (C++/CUDA)

2. Developed a C++-based tool to generate multiple paths from origin to destination using a time-dependent A* search on the National Airspace System (NAS) (best paper in Aviation in 2018).

3. Developed a MPC-based tool for real-time guidance of interceptors to kill maneuvering missiles using Radar feedback.

4. Developed a C++ based large-scale linear optimization routine using Dantzig-Wolfe decomposition for integrated arrival departure enroute and surface traffic flow operations.

5. Developed software for cooperative navigation of multiple SUAVs in GPS/GNSS denied environments using inter-UAV localized range measurements and partial GPS/GNSS access.

6. Developed a GPU and particle filtering based multi-target tracking tool for hypersonic aerial vehicles in presence of high sensor noise.

7. Developed a multi aircraft detection and tracking framework for ramp area surveillance.