A generalist at heart, I’ve worked on a wide variety of robotics problems for autonomous vehicles and smaller scale ground platforms. This has included localization, mapping, object tracking, and high level planning systems, leveraging a mix of nonlinear optimization and bayesian reasoning.My professional life has included both theoretical algorithm and system design as well as significant experience developing production c++ code in real time, compute constrained systems.The focus of my doctoral research was the application of machine learning, state estimation, and qualitative reasoning techniques to problems in autonomous and semi-autonomous robotic operations. This included the development of qualitative reasoning algorithms for long-term robotic mapping and navigation, and learning statistical models for predicting human responses to time delay when remotely operating vehicles.