Robotics

Configuration Space

Before we can plan paths, we need to understand the space we’re planning in.

The Problem with Workspace

Your robot lives in physical space—the …

Grid-Based Planning and A*

The most intuitive approach to motion planning: discretize space into a grid, then search for a path.

Discretization

Divide C-space into a regular …

Coordinate Transforms in Robotics: From Theory to C++

Working with coordinate transforms is one of those skills that every robotics engineer needs but rarely gets taught properly. This article covers the …