Work Experience

Control of fully autonomous flying robots
Software Engineer - Motion Planning / Dynamics and Control
03/2017 - present, 50% since 10/2018, 75% since 10/2019
Redwood City, CA, USA
Fully autonomous drones. See Technology and some independent in-depth reviews.

Technical University Munich (TUM) / Munich School of Robotics and Machine Intelligence (MSRM)
Flying robot swarms
Postdoc at TUM Chair for Robotics and Systems Intelligence
10/2018 - 05/2020 (50% from 10/2018 to 09/2019, 25% from 10/2019 to 05/2020)
Munich, Germany


German Aerospace Center (DLR) Institute of Robotics and Mechatronics
Adaptive Control for autonomous MAVs in unstructured GPS-denied environments
03/2011 - 03/2017
Munich, Germany
See Publications.
German Aerospace Center

Modeling, simulation, guidance and control for an autonomous unmanned omnidirectional airship
Systems Engineer - Guidance, Navigation and Control (GNC)
10/2008 - 06/2010
Zagreb, Croatia
See Master's Thesis in Publications.


Leibniz University Hanover (LUH) Institute of Automatic Control (IRT)
Dr.-Ing. in Robotics
Prof. Dr.-Ing. Sami Haddadin
04/2014 - 2018 (expected)
Hanover, Germany
Model-Based Control of Flying Robots for Robust Interaction under Wind Influence [ pdf ]. Control methods to make autonomous MAVs flying in unknown and uncertain environments robust to environmental forces. Covers interaction control; collision detection, identification, isolation and reflexes; tactile mapping; aerodynamics modeling; wind speed estimation and compensation. See Publications.
Leibniz University Hanover

Faculty of Mechanical Engineering and Naval Architecture (FAMENA)
Master's degree in Mechanical Engineering; Mechatronics and Robotics
Graduated with Honors (top 5% in class)
04/2008 - 02/2010
Zagreb, Croatia
Robust control of rigid body motion [ PDF ] First-order sliding mode control with boundary layer and PD sliding surface combined with distubance observer control applied to the model of an unmanned underwater vehicle (UUV) under strong wave disturbances. Developed an iterative control allocation algorithm for vectored propulsion with saturation. Dynamics of UUV derived using tensor representation. Feedback control using Euler-Rodriguez (dual quaternion) representation of body configuration. Developed while working on the Hipersfera airship.
Faculty of Mechanical Engineering and Naval Architecture

Faculty of Mechanical Engineering and Naval Architecture (FAMENA)
Bachelor's degree in Mechanical Engineering; Mechatronics and Robotics
09/2004 - 04/2008
Zagreb, Croatia