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.
Job Overview
In this role, you will take handson ownership of projects, with a focus on both state estimation and motion/trajectory planning. You'll steer highlevel architecture decisions, translate algorithms from simulation to hardware, and test them in demanding realworld environments.
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. The annual salary range for this role is $100,000 - $140,000. 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.
Job Overview
In this role, you will take handson ownership of projects, with a focus on both state estimation and motion/trajectory planning. You'll steer highlevel architecture decisions, translate algorithms from simulation to hardware, and test them in demanding realworld environments.
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. The annual salary range for this role is $100,000 - $140,000. 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.