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Senior Software Engineer

2 weeks ago

Singapore HIVEBOTICS PTE. LTD. Full time

**Job Summary**:
**Key Responsibilities**:

- Design, develop, and optimize the **navigation stack**(localization, SLAM, path planning, obstacle avoidance) for a **Mecanum-wheeled robot**in constrained environments.
- Implement **sensor fusion**(LiDAR, IMU, vision, wheel odometry) for robust **pose estimation**and **dynamic obstacle avoidance**.
- Develop **safety-critical interrupt handling**for emergency stops, collision prevention, and recovery behaviors.
- Architect scalable **ROS 2-based navigation software**with **behavior trees**for task-level decision-making.
- Optimize **real-time performance**of navigation algorithms (e.g., **DWA, RRT**_, A _**) in **C++**.
- Integrate **hardware interrupts**(e.g., bump sensors, safety lidars) into the navigation system.
- Collaborate with **manipulation & vision teams**to ensure seamless coordination between navigation and cleaning operations.
- Conduct **field testing**and iterate on navigation robustness in real-world environments.
- **API Development**:Design **REST/gRPC APIs**to interface with **3rd-party UI dashboards**(e.g., fleet management, real-time monitoring).
Integrate with **cloud services**(AWS IoT Core, Azure Robotics) for **telemetry logging, over-the-air (OTA) updates, and remote diagnostics**.
- **Low-Level Driver Development**:Develop and optimize **motor controller drivers**(e.g., CAN bus, UART, PWM for Mecanum wheels).
Interface with **microcontrollers (STM32, ESP32)**for real-time sensor data acquisition (e.g., Bumpers, ToF sensors).
- Collaborate with **embedded engineers**to ensure low-latency communication between navigation and motor control systems.

**Required Skills & Qualifications**:

- PhD/MS in Robotics, Computer Science, or related field.
- **5+ years**of experience in **robotics navigation**(SLAM, path planning, obstacle avoidance).
- Expert in **C++**, **ROS 2**, and **modern software architecture**(OOP, design patterns).
- Strong background in **LiDAR-based SLAM**(e.g., **SlamToolBox, Nav2**) and path planners(e.g., LatticeSMAC, MPPI)
- Experience with **behavior trees**(e.g., **Groot, BehaviorTree.CPP**) for task management.
- Knowledge of **sensor fusion**(Kalman filters, particle filters) and **wheel odometry tuning**.
- Familiarity with **Mecanum wheel kinematics**and **holonomic motion planning**.
- Experience with **real-time systems**and **safety-critical software**.
- Bonus: Experience with **embedded systems**(STM32, Raspberry Pi, Nvidia Jetson).
- Experience with **API development**(REST/gRPC, WebSockets) for cloud/UI integration.
- Hands-on experience with **motor controllers**(RoboteQ, ODrive, VESC) and **communication protocols**(CAN, SPI, I2C).
- Prior work on **autonomous mobile robots (AMRs)**.