# 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.
/ tags/ algorithm
# 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.