01 / EXPERTISE
What I Build
Four pillars of mobile-robot autonomy — each implemented from scratch, and each running live on this site.
Perception & SLAM
Occupancy-grid mapping from simulated 2-D LiDAR, with log-odds updates, frontier detection and fully autonomous exploration.
Localization
Normal Distributions Transform scan-matching with Gauss–Newton optimisation to re-localise a lost robot against its own map.
Motion Planning
Weighted A* over the occupancy grid, combined with a Euclidean distance transform for safety-aware, collision-free paths.
Optimal Control
Model Predictive Contouring Control solved by SQP, where every QP sub-problem runs through a Mehrotra predictor–corrector interior-point method.
03 / FIRST PRINCIPLES
Built From First Principles
No solver libraries, no math packages — every algorithm on this site is hand-written TypeScript, unit-tested and running at interactive rates in your browser.
Linear algebra
Dense and sparse matrices with LU and Cholesky factorisations, written and tested from scratch.
Optimization
Box-constrained QP via a Mehrotra interior-point method, wrapped in an SQP loop for nonlinear MPC.
Geometry
Ray casting, Euclidean distance transforms and union-find clustering power the mapping and planning stages.
Real-time engine
The entire pipeline runs in a Web Worker behind a typed message protocol, keeping the UI at a smooth 60 fps.
04 / LABS
Interactive Labs & Tutorials
Don't just watch — grab the parameters yourself and see how the algorithms respond.