Boston/NYC-based Roboticist/EE with a wide range of experience and a knack for learning things I don't know. I specialize in state estimation, sensor fusion, and optimal control.
Retuned PID gains on a 500-lb quadrotor by developing a post-flight response-identification tool to estimate loop dynamics; reduced cross-track error by
50% and hover RMS error by 40%
•
Built a vibration health-monitoring tool that computes power spectral density (PSD) and aggregates vibration metrics; enabled per-airframe trending and
fleet-wide comparisons for anomaly detection
•
Diagnosed hardware/software anomalies across the system; improved autonomous flight performance, vibration, and motor-controller reliability
•
Maintained a PX4 fork; added a safe-RTL auto-land mode and adapted flight-controller software for large-airframe operation
•
Built a PX4 offboard controller for minimum-snap trajectory tracking
•
Mentored junior developers in advanced autonomy techniques and proper coding practices like modern C++
Teaching assistant for the classes Robot Sensing and Navigation
● Coordinated with Professor Hanumant Singh to run lab times, office hours and tutorials
● Helped students gain familiarity with Linux Operating Systems, Git, ROS, GPS & RTK GPS data processing, IMU data processing, Image Processing, and Visual SLAM
● Gave lectures on relevant materials as needed
● Performed code reviews and grading of student projects
Teaching assistant for Mobile Robotics
● Coordinated with Professor David Rosen to run lab times, office hours and tutorials
● Lectured and tutored students on the fundamentals of Mobile Robotics including SLAM, Kalman Filters and Lie Theory
