guilyx / flyingcarudacity

🛩️⚙️ 3D Planning, PID Control, Extended Kalman Filter for the Udacity Flying Car Nanodegree // FCND-Term1

name: Erwin Lejeune
located_in: Abu Dhabi, UAE
from: Nantes (France)
job: Robotics Software Engineer (UAV Swarms)
education: ["Master's in Robotics", "Master's in Embedded Systems", "Bachelor's in Electronics"]
company: Technology Innovation Institute
past experiences: 
  - ["Sr Robotics Software Engineer", "UGV Navigation", "Coalescent Mobile Robotics", "Denmark", "2021-2022"]
  - ["Backend Software Engineer", "Web App Backend (Go/Postgre)", "Hiventive", "Fully Remote", "2020-2021"]
  - ["Robotics Researcher", "AI Planning/Control", "LS2N", "France", "2019-2021]
  - ["Robotics Intern", "UGVs", "Ingeniarius", "Portugal", "2019"]
  - ["Embedded Systems Engineer", "STM32 Virtualization", "Hiventive", "France", "2018-2019"]
  - ["Robotics Intern", "UGVs", "Laboratory of Digital Sciences of Nantes (LS2N)", "France", "2019"]

fields_of_interests: ["Path Planning", "Trajectory Planning", "Path Following", "Behaviour Planning", 
                      "Localization", "Sensor Fusion", "Embedded Systems"]
technical_background: ["Motion Planning", "Optimization", 
                       "Nonlinear Control", "Real-Time Systems", "Automated Planning"]
currently_learning: ["Web3", "React", "Vue"]
will_learn: ["Blockchain (backend)"]
hobbies: ["Basketball", "Cinema", "Competitive Gaming", "IoT"]

⚡ Recent Activity:

1. ❗ Opened issue #2 in guilyx/blockchain_learning
2. 🗣 Commented on #1 in guilyx/blockchain_learning
3. 🗣 Commented on #1 in guilyx/blockchain_learning
4. ❗ Opened issue #1 in guilyx/blockchain_learning
5. 🗣 Commented on #8 in Sango-Club/Dropped

🐱 My GitHub Data

📦 334.7 kB Used in GitHub's Storage

🏆 328 Contributions in the Year 2024

💼 Opted to Hire

📜 61 Public Repositories

🔑 13 Private Repositories

I'm a Night 🦉

🌞 Morning                284 commits         █░░░░░░░░░░░░░░░░░░░░░░░░   04.14 % 
🌆 Daytime                2318 commits        ████████░░░░░░░░░░░░░░░░░   33.79 % 
🌃 Evening                3192 commits        ████████████░░░░░░░░░░░░░   46.53 % 
🌙 Night                  1066 commits        ████░░░░░░░░░░░░░░░░░░░░░   15.54 % 

📊 This Week I Spent My Time On

🕑︎ Time Zone: Asia/Dubai

💬 Programming Languages: 
No Activity Tracked This Week

🐱‍💻 Projects: 
No Activity Tracked This Week

Last Updated on 09/05/2024 12:33:40 UTC

From: 16 July 2020 - To: 08 May 2024

Total Time: 1,641 hrs 28 mins

C++                566 hrs 56 mins ⣿⣿⣿⣿⣿⣿⣿⣿⣶⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀   34.54 %
Go                 313 hrs 18 mins ⣿⣿⣿⣿⣷⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀   19.09 %
Python             234 hrs 48 mins ⣿⣿⣿⣦⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀   14.30 %
C                  130 hrs 2 mins  ⣿⣿⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀   07.92 %
Bash               83 hrs 22 mins  ⣿⣤⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀   05.08 %
YAML               76 hrs 7 mins   ⣿⣄⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀⣀   04.64 %

Liked it ?

ERC-20 / EVM: 0x07ed706146545d01fa66a3c08ebca8c93a0089e5

BTC: bc1q3lu85cfkrc20ut64v90y428l79wfnv83mu72jv

flyingcarudacity's Issues

[Bug] Probabilistic Roadmap

Either takes WAY too much time or something is deadly wrong in this script.

Python Controller

The Python Controller ( in the Udacity Simulator ) may need tuning. Would also need to investigate on how to pass a path with waypoints.

Receding Horizon

1. Load the colliders data
2. Discretize the search space into a grid or graph
3. Define a start and goal location
4. Find a coarse 2D plan from start to goal
5. Choose a location along that plan and discretize a local volume around that location (for example, you might try a 40x40 m area that is 10 m high discretized into 1m^3 voxels)
6. Define the goal in the local volume to a a node or voxel at the edge of the volume in the direction of the next waypoint in the coarse global plan.
7. Plan a path through the 3D grid or graph to that node or voxel at the edge of the local volume.

[CheckList] Representation

• Geodetic Frame (Longitude, Latitude, Altitude - Global Position )
• ECEF Frame ( NED - Local Position )
• Body Frame
• Euler Rotation Matrices
• Quaternion
• Motions as Transformations
• Configuration Space

[CheckList] Planning

• Diagonal Actions
• DFS
• BFS
• Bidirectional A*