Sr. Robotics Software Engineer, Controls
Aurelius Systems2 months ago
Base Salary
$180k - $200k/yr
Responsibilities
- Architect and tune precision pointing and tracking control loops.
- Implement closed-loop tracking from sensor input through actuator commands at hundreds of hertz.
- Develop state estimation using IMU, encoder, and vision feedback, including Kalman and complementary filters.
- Perform system identification and modeling of gimbal, mount, and actuator dynamics.
- Tune actuators and implement gain scheduling and compensation for backlash, friction, saturation, and other nonlinearities.
- Characterize resonances and implement notch filtering and structural compensation.
- Build simulation infrastructure and hardware-in-the-loop test infrastructure for controls development and validation.
- Characterize system performance against real targets during field and range testing.
- Author controls documentation and tuning standards.
- Work across mechanical, electrical, optical, and software interfaces.
Requirements
- 4+ years of experience in robotics.
- Strong knowledge of classical controls, state-space methods, LQR, and MPC.
- Proven simulation experience and experience managing the sim-to-real gap on actual hardware.
- Proficiency in modern C++ for real-time control implementation.
- Experience using Python or MATLAB/Simulink for modeling, system identification, and analysis.
- Practical experience with state estimation, including Kalman, EKF, UKF, and complementary filters.
- Experience with system identification and frequency-domain tuning.
- Direct experience with motion-control hardware, including servo drives, brushless motors, encoders, and IMUs.
- Understanding of latency and jitter effects on control-loop performance.
- Advanced MPC experience, including nonlinear MPC, robust MPC, or real-time NMPC on resource-constrained hardware, is preferred.
- Experience with gimbals, beam directors, precision pointing systems, aerospace, defense, directed energy, adaptive or robust control, vision-in-the-loop control, hardware-in-the-loop simulation, high-bandwidth sensor pipelines, or systems tracking moving targets is preferred.
- A BS, MS, or PhD in Mechanical Engineering, Aerospace Engineering, Electrical Engineering, Robotics, or a related field is accepted, with strong hands-on robotics experience or a real shipping record.
- Must meet the stated U.S. Person requirement for access to export-controlled information or items.
Benefits
- Competitive salary and equity.
- UnitedHealthcare medical, dental, and vision coverage.
- Flexible 18 days of paid time off plus 5 sick days.
- Travel to field-test events and range days.
- Covered daily lunches, office snacks, and drinks.
- E-bike or scooter stipend of up to $500.
- Core hours are Monday through Friday, 9 a.m. to 6 p.m., with additional nights or weekends during demos and field tests.
- Direct access to leadership and substantial ownership of work.