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Notes

This is the entry point for technical notes on robotics software, motion planning, optimal control, and real-time systems.

Each project has its own reading path. The sidebar groups projects separately so new series can be added without mixing their chapters together.

Projects​

  • Modern Robotics: rigid-body motion, kinematics, dynamics, and motion planning.
  • Optimal Parking: vehicle modeling, RRT*, optimal control, trajectory optimization, and WebAssembly.
  • Convex MPC: quadruped locomotion, model-predictive control, simulation, and real-time systems.

Reading paths​

The project pages explain the recommended order and connect the concepts to working implementations. Dated experiments and shorter updates are available in Posts.