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Negasa Yahi
Mid-level Robotics & Controls Engineer specializing in autonomous vehicle motion planning
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Robotics software engineer focused on UAV multi-agent collision avoidance, combining Behavior Trees with MPC and validating in a ROS-based simulator via PX4 hardware-in-the-loop. Has hands-on experience debugging real-time estimation/control issues (EKF noise/arming failures), building distributed ROS service architectures, and smoothing MPC trajectories to meet kinematic and FAA right-of-way constraints.
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Key Strengths
- Built and validated UAV collision-avoidance motion planning integrating Behavior Trees with MPC
- End-to-end ROS-based simulator development with industry collaboration
- Hardware-in-the-loop testing with PX4 + Gazebo; resolved EKF/noisy-sensor arming/takeoff issues via controller delay adjustment
- Designed distributed multi-agent architecture using ROS services for conflict detection and trajectory exchange
- Mitigated ROS service latency/bottlenecks using safe multi-threading
- Improved MPC trajectory feasibility by adding kinematic constraints and post-generation smoothing while enforcing FAA right-of-way rules
- Used Docker to bridge ROS version/library compatibility (Kinetic to Noetic) and GitHub CI/CD for builds
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