Built hierarchical state machine to resolve concurrency issues regarding asynchronous sensor and actuator data streams

Introduced test-driven development practices and CI pipelines using Gtest/Gmock and GitHub Actions to improve reliability of robotics software stack

Developed firmware for battery management, sensor filtering, and live firmware updating for STM32 MCUs

Integrated multiple VSLAM sources with motor feedback using Kalman filtering for accurate odometry estimation

Re-designed the metrics API using Go and Scala to achieve 100X increase in batch call limit within the same return time.

Automated emails for metrics reporting to clients via Python.

Developed legal compliance service for reporting and removing user data.

Developed infrastructure tools enabling for compilation and execution of ROS nodes directly on the drone or within Docker emulators.

Created example lane following project for miniature Arduino car with PID controller.

Created basic object detection, tracking, and prediction algorithm via blob detection and/or key-point matching combined with Kalman filtering.

Implemented AprilTag fiducial marker recognition.

Updated software packages to operate miniature autonomous car platform with sensors.

Used 2D laser scanner to construct map of obstacles around vehicle.

Integrated package for constructing a map with probabilities of obstacles given noisy sensor data.

Created a package that can generate geometric paths on a map, created from Lissajous curves.

Implemented feature that prevents vehicle from deviating from a given path during certain edge cases.

Set up 3D laser scanner with localization and mapping packages for vehicle.