Robotics Software Engineer - Motion Planning, State Estimation, & Control
TerraFirma RoboticsAt 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 hands‑on ownership of projects, with a focus on both state estimation and motion/trajectory planning. You’ll steer high‑level architecture decisions, translate algorithms from simulation to hardware, and test them in demanding real‑world environments.
Responsibilities
State Estimation & Sensor Fusion – Design, implement, and deploy real‑time estimation pipelines that remain robust to sensor noise, vibration, and bias
Motion / Trajectory / Path Planning – Create high‑level planners and low‑level 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 first‑principles modelling through hardware deployment
Proven track record owning large deliverables and driving multi‑disciplinary roadmaps
Preferred Skills & Experience
Hands‑on deployment of Kalman filters or equivalent estimators on real‑world platforms (e.g., drones, tractors, autonomous vehicles, aircraft, rockets)
Deep familiarity with sensor‑fusion 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, RTK‑GPS, wheel/arm encoders, LiDAR, and cameras
Ability to work autonomously in a fast‑paced, hands‑on 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.