I am a senior software engineer at Quanergy Systems, Inc., where I do work related to mapping and localization. I have extensive experience implementing various algorithms processing point clouds, Kalman filters, simultaneous localization and mapping (SLAM), and other algorithms using real robotic hardware. I am a lifelong learner (whether it’s learning an exciting new programming language or programming state-of-the-art hardware), and I love to teach others in an intuitive way.
Skills & Qualifications
- Applied knowledge of probabilistic mobile robotics, including guidance (e.g., A*, D*), navigation (e.g., EKF, UKF, graph-based SLAM), control (e.g., path-following/tracking, pose stabilization), and perception (e.g., detecting and tracking multiple objects)
- Theoretical and practical experience modelling and using various types of sensors (e.g., LiDAR, time-of-flight cameras, GPS, IMUs, encoders, magnetometers, SONAR)
- Native English speaker, intermediate French speaker
- Confident public speaker, excellent technical writing skills, winner of multiple teaching awards
Programming and Computing
- Several years experience designing and implementing software using C++, including a strong familiarity with modern C++ features (e.g., smart pointers, lambdas, move semantics, etc.)
- Experience writing software using Julia, Python, and MATLAB/Simulink
- Comfortable using Git, Point Cloud Library (PCL), Robot Operating System (ROS), Vim, and various other software and frameworks
Industry and Academic Positions Held
Senior Software Engineer, Quanergy Systems, Inc., Ottawa, ON; Aug. 2016-present
- Leading the design and implementation (C++) of various LiDAR-based algorithms for deployment in large-scale installations, including detection and tracking of multiple objects (DATMO) and simultaneous localization and mapping (SLAM).
Technical Consultant, Peck Tech Consulting Ltd., Kingston, ON; Jan.-Apr. 2016
- Developed and implemented several improvements to a large-scale underground mapping algorithm
Teaching Assistant, Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON; 2009–2011, and Department of Electrical and Computer Engineering, Queen’s University, Kingston, ON; 2012–2016
- Developed and taught laboratories and tutorials for seven different engineering courses
- Won Teaching Assistant of the Year in 2013, 2014, and 2015
Young Graduate Trainee, Research and Technology Group, European Space Operations Centre, European Space Agency, Darmstadt, Germany; Sept. 2011–Aug. 2012
- Wrote robotic operations software and a user interface that was deployed on the International Space Station as part of the METERON project
- Helped train an astronaut on the operation of mission software
Research Assistant, Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON; 2009–2011
- Contributed to the development of the guidance, navigation and control subsystem on the planetary rover prototype Kapvik under funding from the Canadian Space Agency
- Performed sensor implementation for a LiDAR and tilt-unit, and helped construct a test platform on a research robot, including the development of guidance and control algorithms
Ph.D., Electrical and Computer Engineering, Queen’s University, Kingston, ON; 2012-2016
- Thesis title: Axis Mapping: The Estimation of Surface Orientations and its Applications in Vehicle Localization and Structural Geology
- Supervisor: Dr. Joshua Marshall
M.A.Sc., Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON; 2009-2011
- Thesis title: Probabilistic approach to autonomous planetary science with prime and scout rovers
- Supervisors: Dr. Alex Ellery and Dr. Joshua Marshall
B.Eng., Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON; 2004-2009
- Focus: Aerospace structures, systems, and vehicle design
- Honours: Dean’s list 2004-2009
Honours & Awards
- Nominated for the Governor General’s Academic Gold Medal by the Department of Electrical and Computer Engineering, Queen’s University, 2016
- First prize, NSERC Canadian Field Robotics Network (NCFRN) Ogopogo’s Lair Competition, 2016
- Alexander Graham Bell Canada Graduate Scholarship (CGS D), NSERC, 2014-2016
- Teaching Assistant of the Year, Department of Electrical and Computer Engineering, Queen’s University, 2013 & 2014
- Ph.D. Fellowship Award, NSERC CREATE Technologies and Techniques for Earth and Space Exploration, 2012–2014
- Departmental Graduate Scholarship, Carleton University, 2009–2011
- Dean’s List, Carleton University, 2004–2009
- Faculty Scholarship, Carleton University, 2004–2009
- ASM International Student Poster Competition Award, Ottawa Chapter, 2008
- Best Undergraduate Poster, The Metallurgical Society of CIM, 2008
Publications (First Author Only)
- M. Gallant and J. Marshall, “Automated rapid mapping of joint orientations with mobile LiDAR”, International Journal of Rock Mechanics and Mining Sciences, vol. 90, pp. 1-14, Dec. 2016.
- M. Gallant and J. Marshall, “The LiDAR Compass: Extremely Lightweight Heading Estimation with Axis Maps”, Robotics and Autonomous Systems, vol. 82, pp. 35–45, Aug. 2016.
- M. Gallant and J. Marshall, “Two-dimensional axis mapping using LiDAR”, IEEE Transactions on Robotics, vol 32., no. 1., pp. 150–160, Jan. 2016.
- M. Gallant, A. Ellery, and J. Marshall, “Rover-based autonomous science by probabilistic identification and evaluation,” Journal of Intelligent & Robotic Systems, vol. 72, no. 3–4, pp. 591–613, Jan. 2013.
Conference Papers (Fully Refereed)
- M. Gallant and J. Marshall, “Automated three-dimensional axis mapping with a mobile platform” in Proc. IEEE Intl. Conf. on Robotics and Automation (ICRA), Stockholm, Sweden, 2016.
- M. Gallant, J. Marshall, and B. Lynch, “Estimating the heading of a Husky mobile robot with a LiDAR compass based on direction maps” in Proc. 10th Intl. Conf. on Intelligent Unmanned Systems, Montreal, QC, 2014.
- M. Gallant, A. Ellery, and J. Marshall, “Science-influenced mobile robot guidance using Bayesian networks,” in Proc. 24th Canadian Conf. on Electrical and Computer Engineering, Niagara Falls, ON, 2011, pp. 1135–1139.
Conference Papers (Abstract Refereed)
- M. Gallant, A. Ellery, and J. Marshall, “Exploring salience as an approach to rover-based planetary exploration,” in Proc. of the 15th CASI Astronautics Conf., Toronto, ON, 2010.
- M. Gallant and A. Merati, “Failure investigation of fan hub sectors – U70 wind tunnel,” in Proc. of the 47th Conf. of Metallurgists, Winnipeg, MB, 2008.
- M. Gallant et al., “Creep behaviour of modified 319 type aluminum alloys for high temperature powertrain applications,” in Proc. of the 47th Conf. of Metallurgists, Winnipeg, MB, 2008.
- M. Gallant, “Axis mapping: The estimation of surface orientations and its applications in vehicle localization and structural geology,” Ph.D. thesis, Dept. of Elec. and Comp. Eng., Queen’s University, Kingston, ON, 2016.
- M. Gallant, “A probabilistic approach to autonomous planetary science with prime and scout rovers,” M.A.Sc. thesis, Dept. of Mech. and Aero. Eng., Carleton University, Ottawa, ON, 2011.