Robotics

The OS Scheduler Model: Tactics as processes, Strategy as kernel scheduler, and Robots as CPU cores

Strategy = Tactics × Orchestration

Why Behavior Trees broke down for multi-agent coordination, how modeling our scheduler after an OS kernel solved dynamic regrouping, and the three safety invariants that eliminate race conditions.

First Order Robotics team at the Great Exhibition Road Festival

Leading Software for a Robot Football Team

An architectural overview of our RoboCup Small Size League robot control stack, lessons from our Great Exhibition Road Festival milestone, and open challenges as we scale to a full 6v6 squad.

Franka Panda end-effector tracking a circular trajectory

Teaching a Robot Arm to See 100ms Into the Future

Most robot controllers have a delay. Commands take time to travel through software stacks, buffers, and hardware. For the Franka Panda arm I was working with in MuJoCo, this delay is exactly 100ms — five control steps at 50Hz. That sounds small. It is not. The problem A standard inverse kinematics (IK) controller does something simple: look at where the target is right now, compute the joint angles that would put the end-effector there, send those angles to the robot. ...