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<!doctype html>
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GitHub
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<div class="eyebrow">robotics subjects for study</div>
<h1>robotics<span class="dim">-study</span></h1>
<p class="sub"><b>경로 계획부터 다개체·기구학·동역학·제어·인지까지</b>, 로봇공학을 직접 구현하며 공부합니다.</p>
<div class="btns">
<a class="btn btn-primary" href="#tracks">주제 둘러보기 ↓</a>
<a class="btn btn-ghost" href="https://github.com/orgs/robotics-study/repositories">GitHub에서 모두 보기</a>
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</section>
<section class="section" id="tracks">
<div class="section-head">
<h2>공부할 수 있는 주제</h2>
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<div class="tracks">
<article class="card">
<div class="head">
<span class="status"><span class="dot"></span>active</span>
<svg width="200" height="130" viewBox="0 0 200 130" fill="none" aria-hidden="true">
<g fill="url(#lg)" opacity="0.16"><circle cx="60" cy="40" r="4"/><circle cx="92" cy="40" r="4"/><circle cx="60" cy="72" r="4"/><circle cx="124" cy="72" r="4"/><circle cx="124" cy="104" r="4"/><circle cx="156" cy="40" r="4"/></g>
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<circle cx="60" cy="104" r="7" fill="var(--surface-2)" stroke="url(#lg)" stroke-width="3"/>
<circle cx="124" cy="72" r="4.5" fill="url(#lg)"/>
<circle cx="156" cy="40" r="8" fill="none" stroke="url(#lg)" stroke-width="3"/><path d="M153 35 l7 5 -7 5 z" fill="url(#lg)"/>
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<h3><a href="https://github.com/robotics-study/navigation_basic">navigation_basic</a></h3>
<p>장애물을 피해 목적지까지 가는 <b>경로 계획과 국소 제어</b>. 전역 플래너 BFS · A* · RRT*, 국소 플래너 DWA · Pure Pursuit · MPC 를 직접 구현하고 벤치마크합니다.</p>
<div class="stack"><span class="tag">C++</span><span class="tag">Python</span><span class="tag">path planning</span><span class="tag">local control</span><span class="tag">benchmark</span></div>
<div class="links">
<a class="pill primary" href="https://robotics-study.github.io/navigation_basic/">📖 문서</a>
<a class="pill" href="https://github.com/robotics-study/navigation_basic">GitHub</a>
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</article>
<article class="card">
<div class="head">
<span class="status"><span class="dot"></span>active</span>
<svg width="200" height="130" viewBox="0 0 200 130" fill="none" aria-hidden="true">
<g stroke="url(#lg)" stroke-width="4" fill="none" stroke-linecap="round">
<line x1="70" y1="104" x2="70" y2="58"/>
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<circle cx="70" cy="104" r="8" fill="url(#lg)" opacity="0.9"/>
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<circle cx="150" cy="62" r="8" fill="url(#lg)"/>
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<h3><a href="https://github.com/robotics-study/modern_robotics">modern_robotics</a></h3>
<p><b>강체 운동</b> · 정·역기구학 · 동역학. <i>Modern Robotics</i> (Kevin M. Lynch) 완독 스터디.</p>
<div class="stack"><span class="tag">Python</span><span class="tag">kinematics</span><span class="tag">dynamics</span></div>
<div class="links">
<a class="pill primary" href="https://robotics-study.github.io/modern_robotics/">📖 문서</a>
<a class="pill" href="https://github.com/robotics-study/modern_robotics">GitHub</a>
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</div>
</article>
<article class="card">
<div class="head">
<span class="status"><span class="dot"></span>active</span>
<svg width="200" height="130" viewBox="0 0 200 130" fill="none" aria-hidden="true">
<g fill="url(#lg)" opacity="0.35"><circle cx="52" cy="88" r="3"/><circle cx="72" cy="60" r="3"/><circle cx="92" cy="80" r="3"/><circle cx="112" cy="52" r="3"/><circle cx="132" cy="66" r="3"/><circle cx="152" cy="34" r="3"/></g>
<path d="M48 94 C 80 76, 104 60, 156 36" stroke="url(#lg)" stroke-width="4" stroke-linecap="round"/>
<circle cx="48" cy="94" r="7" fill="var(--surface-2)" stroke="url(#lg)" stroke-width="3"/>
<circle cx="156" cy="36" r="8" fill="url(#lg)"/>
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<h3><a href="https://github.com/robotics-study/linear_algebra_to_kalman">linear_algebra_to_kalman</a></h3>
<p>로봇공학의 <b>수학 기초</b>. 증명 · 추상 선형대수 · 최소제곱 · 행렬 분해를 지나 칼만 필터와 최적화까지. <i>ROB 501</i> (Jessy Grizzle, U. Michigan) 완독 스터디.</p>
<div class="stack"><span class="tag">linear algebra</span><span class="tag">least squares</span><span class="tag">Kalman filter</span><span class="tag">optimization</span></div>
<div class="links">
<a class="pill primary" href="https://robotics-study.github.io/linear_algebra_to_kalman/?lang=ko">📖 문서</a>
<a class="pill" href="https://github.com/robotics-study/linear_algebra_to_kalman">GitHub</a>
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</article>
<article class="card">
<div class="head">
<span class="status"><span class="dot"></span>active</span>
<svg width="200" height="130" viewBox="0 0 200 130" fill="none" aria-hidden="true">
<g stroke="url(#lg)" stroke-width="4" stroke-linecap="round" stroke-linejoin="round">
<path d="M56 108 L56 74 L100 62 L144 30"/>
<path opacity="0.5" d="M56 30 L100 62 L144 96"/>
</g>
<circle cx="56" cy="108" r="7" fill="var(--surface-2)" stroke="url(#lg)" stroke-width="3"/>
<circle cx="144" cy="30" r="8" fill="url(#lg)"/>
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<circle cx="56" cy="30" r="7" fill="var(--surface-2)" stroke="url(#lg)" stroke-width="3"/>
<circle cx="144" cy="96" r="8" fill="url(#lg)"/>
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<h3><a href="https://github.com/robotics-study/mrmp_introduction">mrmp_introduction</a></h3>
<p>여러 로봇이 서로를 피해 지나가는 <b>다개체 모션 플래닝</b>. 우선순위와 결합 탐색(CBS), sampling, decentralized 협상(PIBT), kinodynamic — 네 갈래 계보를 C++/Python 이중 미러로 구현하고 라이브 sandbox로 돌려봅니다.</p>
<div class="stack"><span class="tag">C++</span><span class="tag">Python</span><span class="tag">multi-agent</span><span class="tag">CBS · PIBT</span></div>
<div class="links">
<a class="pill primary" href="https://robotics-study.github.io/mrmp_introduction/?lang=ko">📖 문서</a>
<a class="pill" href="https://github.com/robotics-study/mrmp_introduction">GitHub</a>
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</div>
</article>
</div>
</section>
<section class="section">
<div class="section-head">
<h2>앞으로 다룰 주제</h2>
<span class="note">로드맵 — 공부하고 싶은 주제가 있으면 이슈로 남겨주세요.</span>
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<h3>제어 <span class="soon">soon</span></h3>
<div class="chips"><span>PID</span><span>LQR</span></div>
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<h3>인지와 상태 추정 <span class="soon">soon</span></h3>
<div class="chips"><span>SLAM</span><span>UKF</span><span>Point cloud</span><span>Localization</span></div>
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<h3>군집 <span class="soon">soon</span></h3>
<div class="chips"><span>Swarm</span></div>
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<h3>학습 기반 <span class="soon">soon</span></h3>
<div class="chips"><span>RL for control</span><span>Imitation learning</span></div>
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