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

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.

Our Story & Mission

At SpaceX, we were part of the teams that built the largest rocket in human history, launched the largest constellation of satellites ever made, and delivered connectivity to millions of people worldwide. What we learned was simple: infrastructure is everything.

At Starbase, the biggest barrier to launching missions to Mars was not building the rocket. It was how slow, expensive, and complex it was to build the infrastructure around it. We lacked buildings, roads, water, power, communications, and waste management, and constructing them took far more time and resources than it should have.

From a first-principles perspective, that doesn't make sense. It shouldn't be this hard or costly to create the foundations for progress. That’s when we realized something important: the same engineering mindset that enabled us to tackle space exploration and mass manufacturing could be applied to infrastructure. By bringing the principles of simplification, iteration, acceleration, and automation to construction, we can unlock a new era in how the world builds.

Accelerating infrastructure unlocks progress across every domain, creating a self-sustaining engine for tackling humanity’s toughest challenges. The innovations we develop on Earth will lay the groundwork for the technologies that one day make settlement on Mars possible.

Job Overview

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.

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

Additional Requirements

• 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

Compensation & Benefits

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 TerraFirma. Relocation packages are available to help cover moving costs, if applicable.