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Aidan O'Hare
Junior Robotics & Controls Engineer specializing in SLAM and multi-robot systems
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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.
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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
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