Blog
Perception
Robot Perception with Python: Mathematical Foundations
January 15, 2024
The mathematical toolkit behind every perception algorithm — linear algebra, probability theory, coordinate transforms, and statistical estimation.
Robot Perception with Python: Introduction and Motivation
January 01, 2024
A from-scratch introduction to robotics perception — why uncertainty matters and how it shapes everything we do in robot state estimation.
Mapping
Occupancy Grid Mapping: Probabilistic Environment Representation
February 01, 2024
How robots build a probabilistic map of their environment from noisy sensor data — using log-odds updates, ray tracing, and Bresenham's line algorithm.
Control
Motion Planning
A* Path Planning: Guided Search on a Grid
February 15, 2024
How A* finds the shortest path by balancing the cost already paid against a heuristic estimate of the cost remaining — implemented in C++ with obstacles and terrain costs.