Caterpillar’s Autonomy and Automation Product Group is seeking an experienced Robotics Software Engineer – Path Planning who is passionate about delivering autonomous vehicle solutions to production. This person is responsible for developing and demonstrating automation technologies, which are often used in conjunction with information systems, remote control, semi-autonomous, and fully autonomous machine control systems. This is an ideal opportunity for someone with experience in developing path planning algorithms, perception techniques and implementing production quality software in C/C++.

Responsibilities:
1. Lead and develop path/motion planning algorithms that include route planning, trajectory optimization, decision making, and open space planning.

2. Develop algorithms including: path planning algorithms for Lane centering, Automatic Lane Change, Lane Keep Assist, Automatic Parking, etc

3. Develop perception algorithms for personnel detect, object detection, tracking, classification,

terrain mapping, localization and others.

4. Participate in R&D programs through entire lifecycle, from initial inception through production and Research and develop new technology in perception & path planning
5. Develop production quality code and own your algorithms from design to production
6. Run simulation for path planning algorithm development and test various scenarios
7. Test code on mining and construction equipment.

Desired Qualifications:
1. BE/ME/PhD in Computer Engineering, Robotics Engineering, Mechatronics, Computer Science, Electrical Engineering, Robotics or a related field.
2. Strong programming skills with C/C++ using Linux OS, and middle ware such as ROS/ROS2 and DDS .

3. Highly skilled in motion planning and control theory (e.g., model predictive control, vehicle dynamic modeling)

4. Understanding of graph-based data structures (quadtree, octree, KD-tree, etc.) and Precisely localize the vehicle with localization techniques such as SLAM .

5. Knowledge of search-based algorithms, path planning, A*, RRT, D *, etc.· 
6. Knowledge of Obstacle avoidance, Behavioral planning, new motion planning algorithms for comfortable and safe trajectories efficiently· 

7. Hands-on experience in robotic and/or vehicle system design and implementation and knowledge of vehicle dynamics, kinematics and modeling

8. Experience on programming of Computer vision/perception Systems software, sensor fusion that integrates with perception sensors such as IMU, GPS, Stereo Cameras, Lidar, Radar .

9. Knowledge of PyTorch/CuDNN tools, Python , Tensorflow would be advantage.

10. Experience on ROS (Rosbag and RViz) for simulation with Path planning

11. Strong math background and strong computational geometry skills

12. Knowledge on embedded systems (NVIDIA Jetson, Xavier) & xilinx

13. Experience with ADAS would be an advantage.

14. Experience with MATLab / FPGA / ARM processor would be an advantage

Preferred Qualifications:
1. Experience with C++ 14/17 and python
2. Experience in modern planning approaches including randomized search methods and trajectory optimization and modern model predictive control and other advanced control techniques.

3. Publications in CVPR/NIPS/ICML/ICLR would be an added advantage.

Some keywords for your searches:

Path planning, A*, D*, localization, mapping, ADAS, self driving cars, trajectory planning, motion planning, machine learning, deep learning, computer vision, artificial intelligence (AI), Convolution Neural Networks (CNN), Kalman Filtering, GPU, FPGA, C++, Matlab, image processing, OpenCV, CUDA, Tensorflow, Keras, 3D point cloud, reconstruction, visual odometry, CAFE, Xilinx, NVIDIA, cameras, lidars, radars, , SLAM, algorithms, pattern recognition

Background: Person will design, integrate and maintain solutions to global routing and obstacle avoidance subsystems for autonomous platforms operating in complex outdoor environments. Person will be responsible for helping vehicles understand how to navigate from point A to B in the real world that looks a little different every time the robot leaves the depot.

Relocation is available for this position.

Caterpillar is an Equal Opportunity Employer (EEO).