Robotics systems · selected work
From grid search to robot choreography.
A visual field guide to three projects: the middleware beneath them, the algorithms that make them move, and the interfaces used to observe their behavior.
03projects · one shared ROS-like TCP/JSON foundation · many ways to make state visible
01 / PLANNING
↗A* Search
Occupancy grids, binary heaps, pub/sub, and shortest paths.
02 / CONTROL
↗Pendularm
Lagrangian dynamics, four integrators, and PID control.
03 / KINEMATICS
↗Robot FK
URDF parsing, transform trees, and an FSM lookout.