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Achievement: StarstruckAchievement: Pull Sharkx2

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Achievement: StarstruckAchievement: Pull Sharkx2

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rdesarz/README.md

Romain Desarzens

Senior Robotics Software Engineer | Embedded Linux, ROS 2, Motion Planning & Control

I design and build reliable robotics software across the stack, from embedded systems and hardware interfaces to motion planning and control.

My work focuses on embedded Linux, sensor integration, real-time performance, model-based control, trajectory generation, numerical optimization, and maintainable C++ robotics architectures.

Skills

  • Embedded Robotics: Embedded Linux, sensor integration, hardware interfaces, real-time performance, system integration
  • Robotics Software: ROS 1/ROS 2, distributed robotic systems, multi-robot coordination
  • Planning & Control: Motion planning, trajectory generation, state-space control, observers, MPC, numerical optimization
  • Algorithms: Graph search, sampling-based planning, inverse kinematics, ZMP preview control, multi-object tracking
  • Languages: C++, Python, Rust, MATLAB
  • Software Engineering: Software architecture, CI/CD, TDD, static analysis, profiling and performance optimization
  • Tools: Git, Docker, CMake, Cargo, clang-tidy, Cppcheck

Selected Projects

  • biped-walking-controller: Walking pattern generator for humanoid robots using ZMP preview control, inverse kinematics and trajectory generation.

  • control-sys-rs: Rust library for control-system modelling, simulation and analysis using state-space representations.

  • rrtstar: Extensible Python implementation of the RRT* motion-planning algorithm for finding asymptotically optimal paths.

  • gmphd-mot: Multi-object tracking library based on the GM-PHD filter, validated on simulated multi-target trajectories.

Full list of projects: GitHub repositories.

Contact

Pinned Loading

  1. biped-walking-controller biped-walking-controller Public

    A Python implementation of a walking controller using ZMP preview control for humanoid robots.

    Python 21 2

  2. control-sys-rs control-sys-rs Public

    A Control System library implemented in Rust. Allows to design and analyze control systems.

    Rust 11

  3. rrtstar rrtstar Public

    Python POC of RRT* algorithm to study its properties

    Python 1

  4. emuchip8 emuchip8 Public

    Chip-8 emulator written in C++ with SDL2 library

    C++ 1

  5. gmphd-mot gmphd-mot Public

    Multiple object tracking library

    C++ 1 1

  6. gmphd gmphd Public

    Python implementation of the Gaussian Mixture Probability Hypothesis Density Filter

    Python 2