# A faster way to build an occupancy grid
the2nake 9 min read
An optimisation I devised to speed up occupancy grid generation by several orders of magnitude. Part of my work for ARV during 2025-26.
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# Depth vision for autonomous navigation
the2nake, joshua, edison, ryan 10 min read
Most of my work for U-M ARV until February 2026. We used, among other techniques, RANSAC and point clouds to segment obstacles from the ground.
# Theta*: smoother pathfinding
the2nake 6 min read
An extension on the A* pathfinding algorithm that creates less complex paths by skipping certain nodes using a line-of-sight check with line rasterisation.
# Detecting collisions with spatial hash grid
the2nake 7 min read
Hash grid data structure description and implementation concerns. It greatly improves collision detection efficiency using a divide-and-conquer approach.
# FLIP fluid simulation
the2nake 12 min read
FLuid Implicit Particle technique in C with SDL. This is underlying work for a clone of the fluid simulation pendant by mitxela.