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Yui Chang

Mid-level Robotics Engineer specializing in autonomous navigation, SLAM, and MPC control

Ann Arbor, MIGraduate Researcher, Autonomous Robotics (Marine Platform)5 years experienceMid-LevelRoboticsAutomotiveTransportation & Logistics
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About

Autonomous marine surface algorithms engineer at CURLY contributing across the full autonomy stack in ROS 2 (C++/Python), from GNSS-IMU InEKF localization (100 Hz) and GTSAM object-level SLAM to semantic mapping and A*/Lie-group MPC planning/control. Strong focus on real-time optimization for constrained embedded hardware, with disciplined debugging/validation using ros2_tracing, rosbag2 replay, and Gazebo, and reproducible deployment via Docker/CI.

Experience

Autonomous Vehicle Safety DeveloperRetrospect Technology
Graduate Researcher, Autonomous Robotics (Marine Platform)University of Michigan - Robotics
Chief Electrical and Control EngineerNTHU Racing

Education

University of Michigan - Ann Arbormaster, Robotics Engineering (2026)
National Tsing Hua University (NTHU)bachelor, Power Mechanical Engineering (2023)

Key Strengths

  • Built and integrated end-to-end autonomy stack (mapping, localization, SLAM, planning, control) for autonomous marine surface vehicles
  • Implemented GNSS-IMU InEKF localization delivering real-time 100 Hz state estimation
  • Integrated GTSAM object-level SLAM with persistent landmarks to mitigate long-term drift/enable loop closure
  • Optimized autonomy algorithms for limited onboard compute via C++ and multithreading
  • Real-time ROS 2 performance debugging using ros2_tracing, ros2 topic hz/bw, rqt_graph, and rosbag2 replay
  • Designed decentralized pub-sub communication for heterogeneous/distributed robots with time synchronization and reliability tuning
  • Simulation-to-hardware validation using Gazebo plus reproducible deployment with Docker and CI-style automated builds

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Languages

English

Skills

A*Adaptive ControlAutonomous DrivingAutonomous Mobile RobotsAutonomous Surface VehiclesBicycle ModelCAN busCasADiComputer GraphicsComputer VisionControl Barrier FunctionsControl TheoryC++Digital Control SystemsDocker