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rdesarz/README.md

Romain Desarzens

Senior Robotics Software Engineer | Motion Planning & Control

I build reliable, real-time planning and control systems in C++, Rust, and Python. My work focuses on model-based control, trajectory generation, numerical optimization, and scalable robotics software architectures.

Skills

  • Control & Optimization: State-space control, observers, MPC, trajectory generation, numerical optimization
  • Planning & Robotics: Motion planning (sampling-based, graph search), locomotion algorithms (ZMP preview, IK), multi-robot coordination
  • Frameworks: ROS1/ROS2, RTMaps
  • Languages: C++, Rust, Python, MATLAB
  • Software Engineering: CI/CD, static analysis (clang-tidy, CppCheck), TDD, performance profiling
  • Tools: Git, Docker, CMake, Cargo

Selected Projects

  • biped-walking-controller: A Python implementation of a walking pattern generator using ZMP preview control for humanoid robots.
  • control-sys-rs: Rust library for control systems design. Implements robust state-space representations, simulation utilities, and analysis tools for LTI systems.
  • rrtstar: Python implementation of RRT* for optimal motion planning. Demonstrates pathfinding in dynamic environments with extendable architecture.
  • gmphd-mot: Multi-object tracking library using the GM-PHD filter. Efficiently tracks multiple moving targets; validated on simulated 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 11 1

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

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

    Rust 8

  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 1