active
navigation_basic
Path planning to reach a goal while avoiding obstacles. Implementing and benchmarking BFS · Dijkstra · A* · RRT · RRT* · Fast-RRT from scratch.
C++Pythonvisualizationbenchmark
robotics subjects for study
robotics-study
Learning robotics from path planning to kinematics, dynamics, control and perception by implementing it hands-on.
Subjects you can study
active
modern_robotics
Rigid-body motion · forward/inverse kinematics · dynamics. A read-through study of Modern Robotics (Kevin M. Lynch).
Pythonkinematicsdynamics
active
linear_algebra_to_kalman
The mathematics under robotics. Proofs, abstract linear algebra, least squares and matrix factorizations, through to the Kalman filter and optimization. A read-through study of ROB 501 (Jessy Grizzle, U. Michigan).
linear algebraleast squaresKalman filteroptimization
Coming next
Roadmap — if there's a subject you'd like to study, open an issue.Motion & control soon
Local planning · DWAPure PursuitMPCTrajectory optimizationPID / LQR
Perception & state estimation soon
SLAMUKFPoint cloudLocalization
Multi-agent soon
Prioritized A*CBSSwarm
Learning-based soon
RL for controlImitation learning