Curriculum Vitae

Ph.D in Robotics

University of Colorado Boulder, CO

• Department of Robotics

M.S in Aerospace Engineering

University of Colorado Boulder, CO

• Concentration in Autonomous Systems / Robotics

B.A in Physics

Whittier College, Whittier, CA

• Minor in Mathematics
• Member of Sigma Pi Sigma and Pi Mu Epsilon

Robotic Navigation Software Engineer Graduate Intern

Trimble Corporation, Westminster, Colorado, USA

• Conceptualized and developed a containerized physics-based simulator using Docker, ROS2, and Gazebo to test GNC service product.
• Implemented motion planning algorithms for line acquisition of autonomous agricultural vehicles.
• Enabled autonomous line acquisition in reverse and validated on-vehicle.

Fault Identification of Autonomous Systems via Bayesian Inference

University of Colorado Boulder, Colorado, USA

• Utilized Bayesian hypothesis testing to accurately identify faults and unknown anomalies within autonomous robots.
• Implemented statistical estimation algorithms such as Kalman Filter, Extended Kalman Filter, and Unscented Kalman Filter in C++.
• Conceptualized and implemented moving time-windows and fault-partitioning to improve the baseline approach by 20%.
• Delivered a final product that identified faults and unknown anomalies with over 95% success.

Autonomous Systems Software Engineer Graduate Intern

The Aerospace Corporation, El Segundo, California, USA

• Assisted in design, control, and system identification of an omni-directional octocopter.
• Implemented advanced algorithms and data structures to create novel flight software in Python and C++.
• Validated custom flight modules inside simulation using ROS and Gazebo, and tested them onboard the vehicle.
• Assisted in the development of a Risk-Aware framework for Uber ATG's self-driving vehicle stack.
• Formulated probabilistic dynamics propagation and intent models for self-driving vehicle and pedestrian models.
• Implemented probabilistic models in Python and C++ using Bayesian derived statistics.

• Conflict‐based Search for Multi‐Robot Motion Planning with Kinodynamic Constraints
• International Conference On Intelligent Robots and Systems (IROS)

• Explainable Multi-Robot Motion Planning
• Robotics Summer Seminar

• Conflict‐Based Search for Explainable Multi‐Agent Path Finding
• International Conference on Automated Planning and Scheduling (ICAPS)

• MAPS‐X -- Explainable Multi‐Robot Motion Planning via Segmentation
• International Conference on Robotics and Automation (ICRA)

• Recipient, Graduate Assistantships for Areas of National Need (GAANN) Fellowship

• Recipient, Undergraduate Award for Outstanding Academic Performance in the Major
• Recipient, Magna Cum Laude Honors

• 2nd Place, Research Presentation Competition at NSF funded REU
• Captain, Whittier College NCAA Baseball Team

Multi-Robot OMPL

• An extended version of the reverered Open Motion Planning Library (OMPL) designed for decoupled multi-robot motion planning.

Kinodynamic Conflict-Based Search (K-CBS)

• A scalable and generalizable decoupled multi-robot motion planning algorithm that provides completeness guarantees.