Selected engineering and research projects. Papers are listed separately on the Publications page.
Software Engineer · 2024 – present
On-vehicle perception for MBARI's autonomous underwater vehicles: multicamera drivers for edge computers, embedded machine learning for tasks such as tracking marine animals, and the link that lets perception drive vehicle behavior.
Software Engineer · 2024 – present
Altitude control and obstacle avoidance for autonomous underwater vehicles, driven by profiling imaging sonar and DVL input.
Software Engineer · 2024 – present
Open-source, containerized ROS 2 and RViz tooling that replays vehicle dive logs as a 3D reconstruction of the navigation, vehicle state and science data.
Software Engineer · 2024 – present
Submap-based localization for autonomous underwater vehicles in low-altitude surveys, fusing particle filter updates with a pose graph to produce geo-localized 3D maps.
Software Engineer · 2024 – present
Python and C++ drivers for wideband echosounders on MBARI's remotely operated vehicles, with visual and CLI tools for low-bandwidth links.
PhD research, Robot Perception Lab · 2020
Adding custom soft-sensor stickers to underwater vehicles so chemical-property and other modality data can be folded into 3D map generation.
Master's thesis, Computational Engineering and Robotics Lab · 2015 – 2017
A prototype autonomous robot for welding the double-hull blocks of commercial merchant vessels, plus a real-time lidar odometry estimator for it.
Robot Autonomy course project, Field Robotics Center · Spring 2017
A ROS human detection and tracking package for the Clearpath Husky, fusing a camera, a Velodyne lidar and a Hokuyo line scanner.
Computer Vision course project · Fall 2016
A ROS odometry package for a Velodyne VLP-16, using the Normal Distributions Transform for scan matching.
