Senior Robotics Software Engineer | Motion Planning & Control
I build reliable, real-time planning and control systems in C++, Rust, and Python. My work focuses on model-based control, trajectory generation, numerical optimization, and scalable robotics software architectures.
- Control & Optimization: State-space control, observers, MPC, trajectory generation, numerical optimization
- Planning & Robotics: Motion planning (sampling-based, graph search), locomotion algorithms (ZMP preview, IK), multi-robot coordination
- Frameworks: ROS1/ROS2, RTMaps
- Languages: C++, Rust, Python, MATLAB
- Software Engineering: CI/CD, static analysis (clang-tidy, CppCheck), TDD, performance profiling
- Tools: Git, Docker, CMake, Cargo
- biped-walking-controller: A Python implementation of a walking pattern generator using ZMP preview control for humanoid robots.
- control-sys-rs: Rust library for control systems design. Implements robust state-space representations, simulation utilities, and analysis tools for LTI systems.
- rrtstar: Python implementation of RRT* for optimal motion planning. Demonstrates pathfinding in dynamic environments with extendable architecture.
- gmphd-mot: Multi-object tracking library using the GM-PHD filter. Efficiently tracks multiple moving targets; validated on simulated trajectories.
Full list of projects: GitHub repositories.
- Email: rdesarz.pro@pm.me
- LinkedIn: linkedin.com/in/rdesarz
- Portfolio: rdesarz.github.io