Ivan A

Working in the R&D Robotics Software department for CLAWS (Concentrated Light Autonomous Weeding & Scouting), an advanced autonomous agricultural robot designed to optimize weeding and crop monitoring. • Developed a modular path detection system for agricultural rover navigation, integrating concurrent LiDAR and vision-based detectors with a KPI-driven decision framework adapted to field conditions. • Implemented a global + local planning strategy: RTK-collected field points feed a global planner that generates a feasible whole-field path, with the rover switching between local planners by mission state (e.g. maneuvering, weeding). • Calibrated cascaded motor controllers (position, velocity, torque loops) to maximize vehicle stability, responsiveness, and efficiency • Monitored and debugged issues across deployed robot fleets, performing log analysis, root-cause investigation, and rapid software hotfixes to maintain system reliability

• Developed modular global navigation solution for UGVs using EKF-based IMU/GNSS fusion, incorporating robust measurement updates through chi-square tests. • Modeled IMU/GNSS sensors in Gazebo using custom plugins with realistic bias and noise characterization. • Implemented ROS drivers integrating navigation sensors via serial and UDP communications. • Designed a bidirectional TCP communication architecture for real-time navigation data distribution and remote command-driven navigation control. • Designed navigation strategies adapted to different vehicle kinematics (Ackermann, differential, omnidirectional), selecting appropriate planning approaches per platform.

• Defined architecture of full autonomous driving software stack. • Conducted extensive field testing and validation of autonomous vehicle software. • Built GNSS PPK validation pipelines for navigation accuracy benchmarking. • Designed and validated various feature-based localization/SLAM algorithms, including Monte Carlo, FastSLAM 2.0, and a backend/frontend-structured GraphSLAM robustified with kernel functions. • Designed a Failure Detection, Isolation, and Response system featuring real-time health monitoring for autonomous driving software. • Implemented LiDAR perception pipeline including motion correction, ground filtering, clustering, and landmark validation. • Created a custom Genetic Algorithm framework to optimize various algorithm hyper-parameters. • Maintained legacy code of a MPC steering controller

• Developed CAD designs for aerodynamic devices, focusing on optimizing performance and efficiency. • Conducted CFD simulations and aerodynamic performance analyses. • Developed MATLAB-based visualization tools for pressure distribution analysis. • Participated in aerodynamic system composite manufacturing, maintenance and validation.