My areas of interest are mobile robotics, embedded systems, digital signal processing, and computer vision. I have acquired practical skills from CERN, DISAL, Cyberbotics, and numerous side projects. I hold a master's degree in Robotics from EPFL and a bachelor's degree in Computer Engineering from FTN.


Professional Experience

Cyberbotics Ltd.

2020/02 - 2020/08

6 months internship (full-time) in Switzerland

Doing my master's project in industry. Developing ROS2 support for e-puck2 physical robot. Expanding capabilities of Webots robot simulator to support easier integration with ROS2.

EPFL / DISAL lab

2019/07 - 2019/09

2 months internship (full-time) in Switzerland

Developed and compared algorithms suitable for acoustic communication (FSK/QAM) used in the autonomous underwater vehicles. Implemented into AVR based PCB board, and quantified performances in the lab and a lake. The device is compared to the commercial products achieving higher communication speed.

CERN / IT-CM-LCS

2017/10 - 2018/09

12 months internship (full-time) in Switzerland

Developed software support for easy signalling between the internal services. The software consists of Python libraries, CLI tools and Puppet modules. Coordinated with the other teams to help the communication integration to their services (e.g. Load balancing, HAProxy, CASTOR, CCPCO and Roger). Configured CI pipeline for automated testing and deployment. Deployed and scaled the software to the 42,000 Linux nodes.

CERN / Geneva-Tsinghua Initiative

2017/07 - 2017/09

2 months internship (full-time) in Switzerland & China

Worked on open source cosmic ray detector, CosmicPi, in the scope of a summer school organized by CERN, University of Geneva and Tsinghua University. Created a web interface for showing the real-time data. Evaluated advantages of integration FPGA based trigger integration and production in Shenzhen, China (visited xfactory, Seeed Studio and more).

Memristor Robotics

2015 - present

12 months as a software leader (25%) in Serbia

Created a framework suitable for programming robots in the given context and running on Raspberry Pi. Developed firmware to interface with servos, LiDAR, distance sensors and other devices, and integrated CAN bus communication. Led software development team, coordinated mechanical and electrical design, participated in team organisation and promotion.

Professional Experience continued

Execom

2016/08 - 2016/09

2 months internship (full-time) in Serbia

Developed a prototype Android application (together with another student) for online package payments. Integrated with payment systems and a few Amazon Services.


Selected projects

Dual Fisheye Camera Calibration

2019

The project is done as a semester project at TOPO laboratory supervised by Davide Antonio Cucci . The purpose of the project was to develop a calibration algorithm for a dual fisheye camera with lenses oriented in the opposite direction. The intrinsic parameters are of both cameras, as well as a rotation between the cameras, are determined using nonlinear least-squares optimization. Multiple approaches are evaluated to maximise accuracy and minimise correlation between determined parameters. In addition, a simple semiautomatic chessboard corner finding tool is developed to obtain data set from highly distorted images.

Eurobot Software and Firmware

2016 - 2017

As a member of Memristor robotics club, we developed a software and firmware to control two mobile robots. The software provided an abstraction layer on of the hardware which allowed easy robot behaviour development. It utilizes a publisher-subscriber pattern and included pathfinding, LiDAR and Dynamixel support, inter-robot collaboration, CAN communication etc.

Robotics Platform

2015 - 2016

Together with other student, we tried to develop and push idea of web IDE for physical robots and online app store. The project has been called SpesRobo. I developed a simple JavaScript API for enables development and execution of an application for physical robot inside a web browser. The API interacts with embedded computer located in a physical robot and a custom protocol enables communication and command execution.

Online Learning Platform

2012 - present

I have developed mobile and web applications called SpesDriver that helps future drivers to prepare their theoretical driving exam. Alone, I made REST API in Yii2 framework, designed MySQL database, developed Angular frontend and integrated I18N support. Today, the web application has over 20,000 users per month and mobile application over 200,000 installations. Also, I made a collaboration with local car schools which allows them to be advertised on my platform.