I’m sole enginner bringing of state-of-the-art planning & control technologies for real-time autonomy in the team. My current focus area and have been for the past few years has been bringing realtime autonomy to the drone, such as autonomous exploration, local planning & control for the quadrotor. I have strong background in aerospace engineering with knowledge & experience of system level knowledge of autonomous (flight) systems. Also I have very quality-conscious in mind because I spent my early career years in flight control and extended to real-time planning for quadrotor drones that are safety critical, single missed issue could cause irreversible crash, fixing after wastes much time whileas taking pre-caution is long-term viable option. I am tenacious, self-motivated problem solver, and also have practicality first in mind, interests in make things work in real, not only in the virtual or simplified world, have been filling the gap between the best performance of state-of-the-art research into nominal performance for the product. Trying to solve practical autonomous operation in unstructured environments, hoping to deliver real value to the world through autonomous physical systems.

☎️ Contact information

📧 Email address - [email protected]

Github

🛠 Skills

💻 Engineering Interests

Bolded letter meaning that I have some hands on experience

Autonomous Systems
- Guidance, Navigation & Control
  - Motion Planning & Trajectory Optimization
    - Computational Geometry
    - Model Predictive Control
      - Trajectory Tracking Control
      - Integrated Planning & Control
      - Model Predictive Path Integral
    - Lie Algebra, Geometric Algebra
  - Active SLAM (Localization, Mapping, & Planning)
    - Semantic, Volumetric Exploration
    - Localization & State Estimation
      - IMU, AHRS, INS/GNSS, VIO, LIO
  - Obstacle Perception
    - Volumetric Mapping
      - Occupancy Grid
      - Signed Distance Fields
  - Flight Control
    - Embedded Autopilot
      - ArduPilot
      - PX4
- Simulation
  - MATLAB/Simulink, Gazebo, CARLA, AirSim
Realtime Autonomy - Edge Computing for Onboard Real-time 3D Application
- Concurrent & Parallel Computing
  - CPU
    - SIMD - via Eigen, NumPy
    - OpenMP
  - GPU
    - CUDA
    - OpenAcc

💻Programming (Max 10 ⭐️)

C++ ⭐️⭐️⭐️⭐️⭐️⭐️

Primary programming language that I've been working for programming most of the time. For developing real-time 3D computation program for both embedded MCU(FCU for drones) and I've been mostly developing code for both embedded MCU(ARMv7 32bits) for MAV guiance & control and for planning & control in ARM64v8/AMD64 environment, quite experienced in large codebase for embedded autopilot codebase.

Mostly I’ve been working on making full 3D planning program performance-aware & light-weight to keep it run on edge device at real-time with capable of concurrent modern C++ programming and hands on experience for modern C++ upto 17.

Eigen, OpenCV, PCL, ROS, OpenMP, CMake, OSQP

CUDA ⭐️

I have experience tried to port CPU version of voxel grid map to CUDA. Knows basics of how to write code & build program I'm not proficient yet but I've worked on some features and fixes on my own.