Terra Firma
Robotics Software Engineer - Motion Planning, State Estimation, & Control
Terra Firma, Austin, Texas, us, 78716
At TerraFirma, we're redefining how the world moves earth for construction. Founded by former SpaceX engineers and backed by Bain Capital Ventures, TerraFirma is automating construction to make it faster, cheaper, and safer.
Our Story & Mission
At SpaceX, we were part of the teams that built the largest rocket in human history, launched the largest constellation of satellites ever made, and delivered connectivity to millions of people worldwide. What we learned was simple: infrastructure is everything.
At Starbase, the biggest barrier to launching missions to Mars was not building the rocket. It was how slow, expensive, and complex it was to build the infrastructure around it. We lacked buildings, roads, water, power, communications, and waste management, and constructing them took far more time and resources than it should have.
From a first-principles perspective, that doesn't make sense. It shouldn't be this hard or costly to create the foundations for progress. That's when we realized something important: the same engineering mindset that enabled us to tackle space exploration and mass manufacturing could be applied to infrastructure. By bringing the principles of simplification, iteration, acceleration, and automation to construction, we can unlock a new era in how the world builds.
Accelerating infrastructure unlocks progress across every domain, creating a self-sustaining engine for tackling humanity's toughest challenges. The innovations we develop on Earth will lay the groundwork for the technologies that one day make settlement on Mars possible.
Job Overview
You will design and deploy the algorithms that enable heavy machinery to perform complex tasks with advanced automation in dynamic, unstructured environments. Your focus will span state estimation, motion and trajectory planning, and control, taking ideas from simulation through to real-world deployment on multi-ton robotic platforms. You will architect systems that fuse data from diverse sensors, optimize movement on challenging job sites, and execute with reliability under real-time constraints.
Responsibilities
State Estimation & Sensor Fusion
- Design, implement, and deploy realtime estimation pipelines that remain robust to sensor noise, vibration, and bias Motion / Trajectory / Path Planning
- Create highlevel planners and lowlevel controllers that optimize for safety, efficiency, and task completion Software & System Architecture
- Own C++/Python codebases, and MCU firmware that realize Guidance, Navigation & Control functions on production hardware Simulation & Tooling
- Generate digital twins, Hardware-in-the-Loop setups, and interactive visualizations to validate algorithms before field trials Field Deployment
- Bring algorithms onto machines, run field experiments, diagnose issues, and iterate rapidly Basic Qualifications
B.S. in Robotics, Mechanical/Electrical Engineering, Computer Science, Aerospace Engineering, or a related field 2+ years of professional or advanced research experience delivering robotic software from firstprinciples modelling through hardware deployment Proven track record owning large deliverables and driving multidisciplinary roadmaps Preferred Skills & Experience
Handson deployment of Kalman filters or equivalent estimators on realworld platforms (e.g., drones, tractors, autonomous vehicles, aircraft, rockets) Deep familiarity with sensorfusion toolchains and libraries Expertise in different motion planning frameworks Strong C++17/C and Python skills on Linux Background integrating and calibrating sensors such as IMUs, RTKGPS, wheel/arm encoders, LiDAR, and cameras Ability to work autonomously in a fastpaced, handson environment Additional Requirements
Must be willing to work extended hours or weekends when needed to support critical deadlines or triage urgent deployment issues Must be willing to relocate to Austin, TX if not within commuting distance
Compensation & Benefits
TerraFirma is committed to fair and equitable compensation practices. Base compensation will vary based on factors such as relevant experience and education. Salaries and leveling will be determined on a case-by-case basis if an offer is extended. Our total compensation package also includes generous equity in TerraFirma. Relocation packages are available to help cover moving costs, if applicable.
Our Story & Mission
At SpaceX, we were part of the teams that built the largest rocket in human history, launched the largest constellation of satellites ever made, and delivered connectivity to millions of people worldwide. What we learned was simple: infrastructure is everything.
At Starbase, the biggest barrier to launching missions to Mars was not building the rocket. It was how slow, expensive, and complex it was to build the infrastructure around it. We lacked buildings, roads, water, power, communications, and waste management, and constructing them took far more time and resources than it should have.
From a first-principles perspective, that doesn't make sense. It shouldn't be this hard or costly to create the foundations for progress. That's when we realized something important: the same engineering mindset that enabled us to tackle space exploration and mass manufacturing could be applied to infrastructure. By bringing the principles of simplification, iteration, acceleration, and automation to construction, we can unlock a new era in how the world builds.
Accelerating infrastructure unlocks progress across every domain, creating a self-sustaining engine for tackling humanity's toughest challenges. The innovations we develop on Earth will lay the groundwork for the technologies that one day make settlement on Mars possible.
Job Overview
You will design and deploy the algorithms that enable heavy machinery to perform complex tasks with advanced automation in dynamic, unstructured environments. Your focus will span state estimation, motion and trajectory planning, and control, taking ideas from simulation through to real-world deployment on multi-ton robotic platforms. You will architect systems that fuse data from diverse sensors, optimize movement on challenging job sites, and execute with reliability under real-time constraints.
Responsibilities
State Estimation & Sensor Fusion
- Design, implement, and deploy realtime estimation pipelines that remain robust to sensor noise, vibration, and bias Motion / Trajectory / Path Planning
- Create highlevel planners and lowlevel controllers that optimize for safety, efficiency, and task completion Software & System Architecture
- Own C++/Python codebases, and MCU firmware that realize Guidance, Navigation & Control functions on production hardware Simulation & Tooling
- Generate digital twins, Hardware-in-the-Loop setups, and interactive visualizations to validate algorithms before field trials Field Deployment
- Bring algorithms onto machines, run field experiments, diagnose issues, and iterate rapidly Basic Qualifications
B.S. in Robotics, Mechanical/Electrical Engineering, Computer Science, Aerospace Engineering, or a related field 2+ years of professional or advanced research experience delivering robotic software from firstprinciples modelling through hardware deployment Proven track record owning large deliverables and driving multidisciplinary roadmaps Preferred Skills & Experience
Handson deployment of Kalman filters or equivalent estimators on realworld platforms (e.g., drones, tractors, autonomous vehicles, aircraft, rockets) Deep familiarity with sensorfusion toolchains and libraries Expertise in different motion planning frameworks Strong C++17/C and Python skills on Linux Background integrating and calibrating sensors such as IMUs, RTKGPS, wheel/arm encoders, LiDAR, and cameras Ability to work autonomously in a fastpaced, handson environment Additional Requirements
Must be willing to work extended hours or weekends when needed to support critical deadlines or triage urgent deployment issues Must be willing to relocate to Austin, TX if not within commuting distance
Compensation & Benefits
TerraFirma is committed to fair and equitable compensation practices. Base compensation will vary based on factors such as relevant experience and education. Salaries and leveling will be determined on a case-by-case basis if an offer is extended. Our total compensation package also includes generous equity in TerraFirma. Relocation packages are available to help cover moving costs, if applicable.