Aidan O'Hare

About

Robotics software engineer with deep ROS/ROS 2 experience spanning both simulation and real hardware. Led a Master’s thesis building a decentralized multi-robot control stack in ROS 2 (Isaac Sim + Nova Carter), implementing nonlinear MPC (casADI) and RRT* planning with SLAM/3D LiDAR, and tackled tricky frame-convention integration issues. Previously built an autonomous quadruped for first responders (PACRR), integrating LiDAR/RGB-D/IMU sensors and tuning navigation behavior through iterative field testing.

Experience

Education

Key Strengths

• Designed decentralized control architecture for multi-robot formation control (Master’s thesis lead programmer)
• Implemented nonlinear MPC using casADI for robot control
• Built RRT* path planning and integrated with SLAM inputs
• Strong ROS/ROS 2 integration experience across simulation and hardware (MoveIt, robot_localization, RealSense, OctoMap)
• Debugged complex coordinate frame/convention mismatches between ROS 2 and Isaac Sim
• Hands-on tuning of obstacle avoidance thresholds via iterative real-robot testing in controlled environments
• Experience modifying URDFs and validating sensor placement/weight effects in simulation

Reference Highlights

• Extensive robotics software experience in Python and C++
• Strong SLAM/V-SLAM expertise across platforms
• Persistent and resilient when facing difficult technical challenges
• Strong debugging skills (dependencies, drivers, custom code)
• Able to optimize and deploy on limited compute platforms (Jetson)
• Leverages prior project learnings effectively
• Successful deployment of V-SLAM after significant troubleshooting
• Demonstrated multi-robot coordination and shared mapping in simulation
• Great collaborator and team player
• High emotional intelligence
• Asks questions and leverages coworkers' knowledge appropriately
• Strong ownership of individual tasks
• Broad robotics skill set (control, navigation, hardware, software, integration, debugging)
• Would be rehired / reference would love to work with him again
• Excellent technical ability in robotics software
• Able to get robots working with no issues
• Successfully set up ROS 2 on a robot platform
• Successfully implemented V-SLAM
• Strong grasp of advanced robotics algorithms
• Effective optimization in a lab environment
• Strong multi-robot decision-making approach (RRT* + MPC)
• Collaborates well in a team
• Successful delivery of a senior design robotics project (robotic dog)
• High potential for success in industry robotics software engineering