We are looking for an experienced Controls Software Engineer who is passionate about safety-critical motion control to join our Motion Planning & Controls team. In this role, you will: • Be responsible for designing and implementing our feedback, control, and actuation strategies using both established & novel techniques • Architect, develop, and test reliable, redundant, and safety-critical software that controls fully-loaded trucks driving on the road • Characterize the vehicle platform (e.g., steering, braking, throttle/engine management, dynamics) to develop models that can be used for precise motion planning, simulation, and controls • Work on fundamental problems in redundant actuation, degraded operation, and fail-safe control • Collaborate with other teams at Kodiak (e.g. hardware, embedded systems, and systems engineering) to deliver a robust vehicle control architecture • Create requirement specifications, implement features, plan testing, and document results What you'll bring: • Software development experience writing production-level MATLAB & Simulink • Experience with automatic code generation from MATLAB / Simulink to embedded C / C++ • Development, testing, and tuning of controllers for mobile autonomous robots, ideally trucks, cars, or flying vehicles • System identification, modeling, simulation, and characterization of systems with complex dynamics • A strong theoretical foundation paired with practical experience in controls, system modeling, and redundant architectures • A focus on end-to-end vehicle safety Bonus points if you have: • Effective development of production C++ • Expertise with hardware-in-the-loop (HIL) testing • Experience with software design and implementation in safety-critical domains (e.g. automotive, aerospace, medical, etc) • Written low-level drivers for software/hardware interfacing using protocols such as CAN or ethernet • Written efficient code running on resource-constrained embedded systems with a real-time operating system • Experience with formal verification methods, writing requirements, and systems engineering processes • Drafted safety goals and requirements with traceability, following the ISO26262 process What we offer: • Competitive compensation package including equity and annual bonuses • Excellent Medical, Dental, and Vision plans through Kaiser Permanente, Cigna, and MetLife (including a medical plan with infertility benefits) • MetLife Legal Services, Identity & Fraud Protection, Hospital Indemnity Insurance, Accident Insurance, & Critical Illness Insurance • Flexible PTO, 10 paid holidays, and generous parental leave policies • Our office is centrally located in Mountain View, CA • Office perks: dog-friendly, free catered lunch, a fully stocked kitchen, and free EV charging • Long Term Disability, Short Term Disability, Life Insurance • Wellbeing Benefits - Headspace through Cigna, Calm through Kaiser, One Medical, Gympass, Spring Health through Cigna, Rula (mental health navigation) • Fidelity 401(k) • Commuter, FSA, Dependent Care FSA, HSA • Various incentive programs (referral bonuses, patent bonuses, etc.) The pay range listed below reflects the base salary in our SF/Silicon Valley location, across several internal levels. Actual starting pay will be based on job-related factors including: work location, experience, relevant training, education, skill level and performance during interview. Total compensation at Kodiak includes base pay, equity, bonus and a competitive benefits package California Pay Range $190,000-$260,000 USD