Hi, I'm Grayson Gilbert

Robotics & Embedded Systems Engineer

I build things that bridge the gap between hardware and intelligent software — from custom multi-layer PCBs and brushless motor controllers to reinforcement learning policies that run zero-shot on microcontrollers. Recently finished my M.S. in Robotics (May 2026).

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Core Technical Competencies

Domain	Tools & Technologies
Embedded Hardware	KiCad (Multi-layer PCBs), STM32 (F407VET6, L476RG), ESP32, AS5047P Encoders
Software & Systems	C++, Python, Linux, CMake, Git, Docker, GoogleTest
Robotics & Simulation	ROS 2 (Navigation/SLAM), MuJoCo, Webots, Gazebo
Control & Perception	Field Oriented Control (SimpleFOC), PPO Reinforcement Learning, OpenCV
Mechanical Design	Fusion 360, SolidWorks, FDM & Resin 3D Printing, GD&T
Rapid Prototyping	PCB Bring-up, Benchtop Test Equipment, CNC Machining, Laser Cutting

Featured Projects

Sim2Real Rotary Inverted Pendulum

Trained a PPO control policy in a custom MuJoCo Gymnasium environment and achieved zero-shot transfer onto an ESP32 microcontroller.

Robotics Machine Learning Embedded

STM32 Custom MCU PCB

Designed a multi-layer STM32-based motor controller PCB in KiCad — custom power distribution, SWD debug interface, CAN bus, and BLDC driver circuitry.

Embedded Hardware KiCad PCB Design

Project Mars — Autonomous Underwater Vehicle

Contributed to an oceanographic survey mission deploying a microSAS sonar sensor on an AUV to capture sub-inch resolution acoustic images of the USS Monitor shipwreck.

Robotics Autonomy Sonar

Monocular Perception and Tracking pipeline output

Monocular Perception & Object Tracking

Built a real-time monocular perception and object tracking pipeline using OpenCV — detects, classifies, and tracks targets across video frames using depth estimation heuristics.

Computer Vision OpenCV Python

More Projects

Barista Robot

Designed and programmed an autonomous barista robot capable of navigating a café environment, picking up cups, and delivering drinks using ROS 2 and a robotic arm.

Robotics ROS 2 Manipulation

EKF-LQR Inverted Pendulum Control

Implemented an Extended Kalman Filter (EKF) for state estimation combined with an LQR controller to stabilize an inverted pendulum under sensor noise.

Control Systems Python State Estimation

ARRT Connect — Autonomous Robot Racing Team

Contributed to an autonomous robot racing platform — developed perception and navigation modules in ROS 2 for competitive autonomous driving challenges.

Robotics ROS 2 Autonomy

TurtleBot3 A* Path Planning

Implemented the A* search algorithm on a TurtleBot3 for autonomous navigation in a mapped environment, including obstacle avoidance and replanning.

Robotics ROS 2 Path Planning

8-Puzzle A* Solver

Built an 8-puzzle solver using A* search with admissible heuristics (Manhattan distance), visualizing the solution path and comparing search strategies.

AI Search Algorithms Python