Sensor-Fusion Navigation for Autonomous Vehicles
MSc thesis on EKF/UKF-based multi-sensor fusion for robust localization in dynamic environments.
Predictive Modeling with CNN-LSTM Architectures
Hybrid deep learning approach for time-series forecasting in robotic motion planning.
[1 Approved Patent] Robotic Control Systems
Focused on robotic control systems, distributed coordination and adaptive system behavior.
[2 Pending Patents] Distributed Coordination
Distributed coordination and adaptive system behavior for multi-robot environments.
OpenFMS: Open Fleet Management System
Open-source ROS2-based fleet management for multi-AMR coordination and traffic management.
Robotics Software Engineer
I lead robotics software development for industrial cobot deployments at Arçelik and other OEMs. I design closed-loop control and Fourier-series torque compensation models that cut steady-state error, and build impedance and contact-aware control for adaptive interaction with variable surfaces. I’ve engineered vision-guided 3D surface processing for grinding, polishing, and spraying using camera feedback, and benchmarked 6 DoF Orion cobot repeatability to ~0.02 mm against a UR5 baseline of ~0.05 mm. I co-authored 3 patents on adaptive control, collision avoidance, and multi-robot coordination, and I lead on-site commissioning, PLC integration, and operator training. When production cells fail, I debug live by replaying logs and tracing EtherCAT bus faults back to their source.
Robotics Software Engineer
At Birfen, I migrated the company's AMR software stack from ROS1 to ROS2—improving IPC communication, real-time performance, and DDS discovery—while setting up automated CI/CD pipelines via GitHub Actions. I integrated Nav2 with Cartographer SLAM for autonomous coverage planning, engineered sub-centimeter LiDAR autodocking using RANSAC line extraction and ICP alignment, and built multi-sensor localization pipelines fusing EKF, Lucas-Kanade optical flow, essential matrix methods, and QR pose correction. I also executed a full site deployment, defining docking stations, navigation boundaries, and task workflows, and trained customer operators on safety infrastructure and dispatch. Today, the AMRs still run the navigation stack I architected, now managed by a new generation of engineers who inherited the codebase.
Robotics Software Engineer
At ROBO, I deployed ROS2-based fleet management across AMR fleets, handling traffic management, multi-sensor localization, and real-time diagnostics. The orchestration challenges I encountered here directly shaped my PhD research into VDA5050 multi-robot coordination. I built localization pipelines fusing wheel encoders, barcode scanners, and depth cameras for absolute positioning, and designed operator dashboards so teams could monitor fleet health and dispatch missions without manual intervention.