May 17 · 13 min read · In Part 1, I spent an entire day fighting BitLocker, disk partitions, and ghost Gazebo processes before a robot finally moved. The robot moved. I felt accomplished. Then I realized I had only run othe
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Apr 22 · 10 min read · Part 1 of N — Why, What, and How It's Built SLAM · ROS2 Jazzy · Raspberry Pi 5 · Linorobot2 · RTAB-Map · LiDAR · RGB-D Most robotics research starts with a purchase order. A TurtleBot3, a Clearpath H
Join discussionApr 19 · 8 min read · TL;DR RPP (Regulated Pure Pursuit) is a mobile robot path tracking controller published by Steve Macenski et al. (Samsung Research) in 2023 (arXiv:2305.20026). It extends Adaptive Pure Pursuit with three safety-critical regulation mechanisms: (1) Cur...
Join discussionApr 16 · 10 min read · TL;DR AMCL (Adaptive Monte Carlo Localization) is a probabilistic localization algorithm that estimates a robot's pose on a pre-built 2D map. The key idea: represent the position probability distribution using a particle filter, and dynamically adjus...
Join discussionApr 13 · 7 min read · TL;DR FAST-LIO2 is a high-speed, high-accuracy LiDAR-IMU Odometry system developed by HKU MARS Lab. Two core innovations: (1) Direct raw point cloud registration to the map — no feature extraction, (2) Incremental k-d Tree (ikd-Tree) for O(log n) rea...
Join discussionMar 31 · 10 min read · SLAM · ROS2 · Mobile Robotics · Learning Path · Research I'm not a SLAM engineer. Not yet. But I'm building a robot that needs to map an apartment, localize itself inside that map, and navigate towar
Join discussionMar 8 · 2 min read · Brief Summary This paper explains the ROS 2 framework, which provides essential components for robotics development environments. It also introduces real-world case studies to demonstrate how ROS 2 ca
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