Robotics Software Engineer - Motion Planning, State Estimation Control

Robotics Software Engineer – Motion Planning, State Estimation, & Control

Join to apply for the Robotics Software Engineer – Motion Planning, State Estimation, & Control role at Terra Firma Robotics.

At Terra Firma, we’re redefining how the world moves earth for construction. Founded by former Space

X engineers and backed by Bain Capital Ventures, Terra Firma is automating construction to make it faster, cheaper, and safer. We bring the same engineering mindset that enabled us to tackle space exploration and mass manufacturing to infrastructure, unlocking a new era of progress.

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.

• 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.

• 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.

• Hands‑on deployment of Kalman filters or equivalent estimators on real‑world platforms.
• Deep familiarity with sensor‑fusion tool chains 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.

• Must be willing to work extended hours or weekends when needed to support critical deadlines or triage urgent deployment issues.
• Comfortable with working in a fast‑paced startup environment.
• Must be willing to relocate to Austin, TX if not within commuting distance.

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 equity in Terra Firma. Relocation packages are available to cover moving costs, if applicable.