As a Robotic Software Engineer specializing in Aerial Autonomy, I design, develop, and implement advanced autonomy software for aerial robots. My work primarily focuses on leveraging C++, ROS, and PX4 Autopilot systems to create sophisticated and reliable autonomous systems. Key aspects of my role include:Software Development: Designing and developing robust, efficient, and scalable autonomy software using C++, ROS, and PX4 Autopilot.Multi-Drone Navigation: Implementing and optimizing multi-drone navigation systems to support 3D mission planning and execution.Behavior Trees: Developing and integrating Behavior Trees for effective fleet management, ensuring seamless coordination and task execution among multiple drones.Perception Systems: Designing and integrating advanced perception systems, including camera-based solutions, to enhance situational awareness and autonomous decision-making.3D Mission and Motion Planning: Creating sophisticated 3D mission and motion planning algorithms to enable precise and efficient drone operations.Fleet Management: Implementing systems for the management and coordination of multiple drones, ensuring efficient and effective operation of the entire fleet.Testing and Validation: Conducting thorough testing and validation of autonomy software to ensure reliability and performance in real-world scenarios.Collaboration: Working closely with cross-functional teams, including hardware engineers, data scientists, and field operators, to ensure the successful deployment of autonomous aerial systems.Continuous Improvement: Continuously improving and refining autonomy algorithms and software based on feedback and operational data to enhance performance and capabilities.

I had the pleasure of working with the navigation team at OTTO Motors during the Fall of 2022 as part of my co-op internship. During this period, I contributed to several key projects that significantly enhanced my technical skills and practical experience in the field of robotic navigation and safety systems. The primary projects I worked on included:Lidar-Based Safety Package for the Navigation Stack:Design and Development: I played a crucial role in designing and developing a lidar-based safety package aimed at enhancing the navigation stack's overall reliability and safety.Integration: Successfully integrated the lidar sensors with the existing navigation stack, ensuring seamless communication and data flow between the sensors and the navigation algorithms.Algorithm Implementation: Implemented advanced algorithms to process lidar data in real-time, enabling the system to detect and respond to obstacles and hazards effectively.Testing and Validation: Conducted rigorous testing and validation of the safety package to ensure its robustness and reliability in various operational scenarios.Deploying OTTO Software Stack on External Mobile Robotic Platforms:Platform Adaptation: Adapted the OTTO software stack to be compatible with various external mobile robotic platforms, ensuring flexibility and scalability of the software.Deployment: Led the deployment process of the software stack on different robotic platforms, overcoming challenges related to hardware-software compatibility and integration.Optimization: Optimized the performance of the software stack on these platforms, making necessary adjustments to enhance efficiency and responsiveness.Field Testing: Conducted comprehensive field testing to evaluate the performance of the deployed systems in real-world environments, gathering valuable data to further refine and improve the software.

I began my cooperation with AIS as an internship student from April 1st, 2020, to June 31st, 2021. During this period, I completed four MITACS ACCELERATE internship programs, contributing to various innovative robotics projects:UV-Disinfection Non-Holonomic Mobile Robot:Design and Implementation: Developed a non-holonomic mobile robot equipped with UV-disinfection capabilities, focusing on effective and efficient disinfection in various environments.Control Systems: Implemented control systems for precise navigation.CartPuller Autonomous Driving Platform:Platform Development: Contributed to developing an autonomous driving platform for cart pulling, automating the transportation of goods in industrial settings.Navigation Algorithms: Developed navigation algorithms for autonomous operation, including path planning and obstacle avoidance.Perception Module for Human Detection:Sensor Integration: Integrated sensors to develop a perception module capable of detecting and tracking humans in real-time.Algorithm Development: Implemented algorithms for accurate and reliable human detection.After my internship, I transitioned to a part-time role as a Robotics Software Developer at AIS, working on:Perception System for Autonomous Driving Platform and Mobile Robot:System Development: Developing perception systems to enhance situational awareness and decision-making.Sensor Data Processing: Implementing algorithms to process data from 3D Velodyne VLP16 lidars for accurate environment mapping and obstacle detection.SLAM Algorithms:NDT Mapping and Matching: Working on SLAM algorithms, focusing on Normal Distributions Transform (NDT) mapping and matching using 3D Velodyne VLP16 lidars.Algorithm Implementation: Improving the accuracy and efficiency of autonomous navigation.Motion Planning Algorithms:Global Planners: Implementing Rapidly-exploring Random Tree (RRT) and RRT* algorithms for global path planning.

This project marked a significant step in bridging academia and industry at KNT University of Technology. Funded by Dr. Amir Taghavipour (Faculty Member of the Mechanical Engineering Department) and myself, we initiated the creation of an experimental training center designed to equip Mechanical and Electrical Engineering students with essential industrial skills. The training center included various educational platforms covering:Industrial AutomationMicrocontroller Programming (STM32 Family)Industrial RoboticsI'm particularly proud of this project because it allowed me to teach valuable industrial skills to students, many of whom successfully secured highly relevant industrial positions in Iran.

I began my role at BEHPOO as a Mechatronics and Control Systems Engineer. With strong motivation, I designed and implemented a low-level control system for Multi-Head Weigher Machines. I developed the entire control and mechatronic systems for this machine, including load cells, stepper motors, drivers, vibrators and their drivers, and STM32F4xx microcontrollers.My second project involved working on the control system for a Vertical Packing Machine. This project focused on using Siemens PLC S7-1200 for control and included the complete electrical implementation and power panel wiring.