I build systems — code, games, simulations, vehicles. I'd rather build something than just use it.
Building it is usually how I end up understanding it.
Background
I started programming physics and control systems in Garry's Mod, using E2 / Wiremod to build vehicle dynamics, suspension, and telemetry.
That experience led to the same kinds of problems in standalone software: trajectory solvers, vehicle autonomy, and tools for collecting and examining real data.
What I work on
A native intercept solver for moving targets under gravity, drag, and wind, with Python and game-engine bindings.
View →Mapless parking on a Hyundai Ioniq using LiDAR-inertial odometry, occupancy mapping, planning, and vehicle control.
Full writeup ↗A Raspberry Pi runtime for RTK/GNSS collection, buffered logging, remote monitoring, and field recovery.
Full writeup ↗A MATLAB workbench for segment comparison, synchronized replay, and racing telemetry review.
Full writeup ↗Vision-only parking perception and a low-vision driver coaching interface, developed in CARLA.
Full writeup ↗Merged Autoware Universe changes for CARLA camera encoding and configurable sensor noise.
Full writeup ↗Right now
Working on vehicle autonomy and vision at HuVILab, maintaining ballistic-solver, and developing racing telemetry tools.
What I'm on →