
Perception Software Engineer
Zipline · Full-time
Feb 2023 - Jan 2024
• 1 yrAcoustic Perception, Tracking, Detect and Avoid capabilities for delivery drones in dense airspaces.
Skills: Julia (Programming Language) · Bash · Python (Programming Language) · Rust (Programming Language) · Weights&Biases

Software Engineer II - Perception & Tracking Metrics
Argo AI
May 2022 - Nov 2022
• 7 mos◦ Created Ground Truth Validation C++ backend & Looker dashboard frontend to ingest log sets at-scale and identify erroneous manual and auto-labeled tracks.
◦ Implemented spatiotemporal differentiation & LiDAR point-label data association for labelled tracks.
◦ Implemented message schema and legacy code feature upgrades to generate track metrics for objects with non-deterministic shape - enabling org-wide design verification workstreams for weather artifacts & inanimate objects
Skills: Bash · C++17 · Python (Programming Language) · Looker (Software)

Software Engineer - Perception
Optimus Ride
May 2021 - May 2022
• 1 yr 1 moSituational Awareness team - detection and tracking.
- Created libraries implementing near-field fisheye camera calibration, monocular MOT with Kalman Filters & SORT, and radar detection based occupancy gridmaps.
- Drove cross-functional collaboration to evaluate L4-capable AV LiDAR/camera sensor performance in adverse weather.
- Developed ground-truthing tooling & automated pipelines to ingest >1,000 testbed datalogs & summarize sensor performance and failure modes
Skills: Bash · C++17 · Python (Programming Language)

Autonomous Vehicle Research Engineer
Honda R&D Americas, Inc.
Jun 2019 - May 2021
• 2 yrsConnected and Autonomous Vehicle engineering with a focus on robotic perception and localization.
◦ Created ensemble-EKF based MOT pipeline from scratch, performed sensor fusion with LiDAR / RADAR / camera detection outputs.
◦ Implemented data association, EKF model parameter tuning, & object list fusion with tracks from two vehicles.
◦ This pipeline resulted in two ICRA papers on affordable autonomy with co-operating pairs of L2 & L4-capable vehicles communicating over a lossy V2V network.
◦ Created onboard SW infrastructure. Integrated sensor drivers, networking, Docker containers, multi-sensor calibration stack.
◦ Implemented full-stack prototype for parking finder assist feature by training U-net based semantic segmentation, innconjunction with geometric CV / heuristic-based polygon detection.
Skills: C++17 · Bash · Python (Programming Language) · ROS · Docker · PyTorch · Linux

Robotics Engineering Intern
Magna International
May 2018 - Aug 2018
• 4 mos• Developed and evaluated safety-critical hard-realtime software pipeline to control industrial manipulators for manufacturing processes primarily using ROS2.0, DDS communications, PCL and ROS-Kinetic libraries in a Linux Environment
• Wrote ROS packages in Python/C++ for sensor-fusion, obstacle detection and rule-set execution to interface with ABB robots
• Coordinated code development in team of 5+, performed Git repo maintenance and code documentation using Scrum and Kanban
Skills: Python (Programming Language) · ROS 2 · ROS · Rviz · C++ · Point Cloud Library (PCL) · ABB Robots

Research Intern
Instituto Superior Técnico
May 2017 - Jul 2017
• 3 mos• Developed a ROS - Gazebo-based simulation for the IDMind MOnarCH mobile robot, worked with team of 5+ graduate students to integrate current packages used for mobile navigation and task execution for RoboCup@Home competition challenges.
• Created working ROS - based description files to simulate noisy multi-modal sensor inputs and environment interaction
Gazebo Simulation : IDMind MOnarCH bot

R&D Engineer
Bubblefly Technologies Private Limited
Jun 2016 - Feb 2017
• 9 mos
UAS-DTU
Oct 2012 - Jun 2015
Avionics Lead
Aug 2014 - Jun 2015
• 11 mos• Developed & flight tested a Group 2 Tactical Class Unmanned Aerial System (UAS) with surveillance capabilities
• Integrated UAS with open-source autopilot and gimbal stabilized imaging payloads, performed electric propulsion optimization
• Led a multidisciplinary team of 20+ undergraduate students to execute UAS design and development cycle
Avionics Engineer
Oct 2012 - Jul 2014
• 1 yr 10 mosAUVSI Student UAS Competition 2014 - Maryland, USA
• Secured 3rd position overall out of 35 international teams
• Integrated multi-sensor payload and radio communications on catapult-launched mini UAS
AUVSI Student UAS Competition 2013 - Maryland, USA
• Secured 6th Position Overall out of 29 international teams
• Designed and fabricated avionics enclosures & routing PCB’s for composite airframe, assisted in flight test procedures
Skills: ArduPilot · Pixhawk · C++ · Circuit Design · Python (Programming Language) · Team Management · UAVs · Drone Piloting · Failure Mode and Effects Analysis (FMEA) · Systems Engineering
System for AUVSI SUAS 2014 - Vihaan
System for AUVSI SUAS 2013 - Aarush M