Awesome Robotics System Design

Stuff I read to learn about robotics system & software design and more, e.g., design interview questions, design discussion topics.

Blogs

• Airbotics blog
  • The landscape of software deployment in robotics
• Apex.AI Blog
  • ADE—Ensuring that all developers in a project have a common, consistent development environment
  • Performance Testing in ROS 2
  • AUTOSAR and ROS 2 for Software-Defined Vehicle
• Applied Intuition blog
  • ISO 26262, SOTIF, and Simulation in Autonomy Systems
  • Quantifying Known and Unknown Metrics in ADAS and AV Development
• Balena.io Blog
  • OpenTelemetry for IoT Metrics
  • Scale your Industrial deployment with IIoT Edge Gateways Managed by HiveMQ and balena
• comma.ai blog
  • End-to-end lateral planning
  • How openpilot works in 2021
  • Development speed over everything
• Cruise news
  • Cruise's Continuous Learning Machine Predicts the Unpredictable on San Francisco Roads
  • Building continuous integration & continuous delivery for autonomous vehicles on Google Cloud
• Foxglove blog
  • MCAP vs ROS 1 Bag Index Performance
  • Spotlight: Using Web-Based Technologies to Make Robotics Accessible to All
  • Sending ROS 2 Message Types Over the Wire
• NVIDIA DEVELOPER Blog
  • Design Your Robot on Hardware-in-the-Loop with NVIDIA Jetson
  • Create Realistic Robotics Simulations with ROS 2 MoveIt and NVIDIA Isaac Sim
• PICKNIK blog
  • Packaging ROS with GitHub Actions
  • Real-Time Programming: Priority Inversion
• WAYVE Blog
  • Introducing GAIA-1: A Cutting-Edge Generative AI Model for Autonomy
  • Ghost Gym: A Neural Simulator for Autonomous Driving

Conferences

• ROSCon
  • Physical Continuous Integration — CI on Real Robots!, 2016
  • Determinism in ROS – or when things break sometimes and how to fix it, 2017
  • Concurrency in ROS 1 and ROS 2, 2019
  • Rosbag2 for Power Users, 2021
  • Tracing ROS 2 with ros2_tracing, 2021
  • MCAP - A Next Generation File Format for ROS Recording, 2022
  • Improving Your Application's Algorithms and Optimizing Performance Using Trace Data, 2023
  • Leveraging a functional approach for more testable and maintainable ROS code, 2023
  • Octomap is dead long life Bonxai, 2023
  • Real-time Data-flow extension for ROS 2
  • Simulate robots like never before with Open 3D Engine, 2023
  • Surviving the Flood (of Rosbags), 2023
  • What is Robotics Observability? Scaling ROS from Prototype to Production, 2023
• COMMA_CON
  • How We Test openpilot, 2021
• Amazon re:MARS
  • Functional safety product development for autonomous mobile robots, 2022
• BazelCon
  • Building Self Driving Cars with Bazel, 2019
• CppCon
  • Efficiency with Algorithms, Performance with Data Structures, 2014
  • An Introduction to Tracy Profiler in C++, 2023
  • BehaviorTree.CPP: Task Planning for Robots and Virtual Agents, 2023

Design Docs

• ROS2 Design
  • Clock and Time
  • Managed nodes
  • ROS 2 Launch System
  • ROS 2.0 rosbags
  • ROS on DDS
  • ROS on ZeroMQ and Friends
• Autoware's Design
  • Planning component design
• openpilot
  • cereal
  • loggerd

Articles by Topics

CI/CD

• CI for Embedded Systems
• Comprehensive CI/CD System Design
• Hardware-In-the-Loop for Connected Automated Vehicles Testing in Real Traffic
• Improving Embedded Software Development through CI/CD

Safety, Metrics, Standards

• Amazon re:MARS 2022 - Functional safety product development for autonomous mobile robots
• Functional Safety Assessment of an Automated Lane Centering System | NHTSA
• ISO 26262, SOTIF, and Simulation in Autonomy Systems
• Safety Performance Indicators (SPIs) for Autonomous Vehicles
• A Safety Standard Approach for Fully Autonomous Vehicles
• A Literature Review of Performance Metrics of Automated Driving Systems for On-Road Vehicles
• Title Key performance indicators for assessing the impacts of automation in road transportation Results of the Trilateral key performance
• Quantifying Known and Unknown Metrics in ADAS and AV Development
• ISO 26262-1:2018 - Road vehicles — Functional safety — Part 1: Vocabulary
• ISO 11270:2014 - Intelligent transport systems — Lane keeping assistance systems (LKAS) — Performance requirements and test procedures

Testing

• Testing robotics systems in fast-paced startups
• How Lessons From Self-Driving Can Improve LLMs

Observability

• Prometheus vs. OpenTelemetry Metrics: A Complete Guide
• Robo-Observability
• First Mile Observability and the Rise of Observability Pipelines
• Surviving the Flood (of Rosbags)
• What is Robotics Observability? Scaling ROS from Prototype to Production
• Improving Your Application's Algorithms and Optimizing Performance Using Trace Data
• An Introduction to Tracy Profiler in C++

C/C++

• An introduction to C++'s SFINAE concept: compile-time introspection of a class member
• The C++ Bestiary
• Reflection in C++ Part 1: The Present
• Challenge your performance intuition with C++ magic squares
• Brain Unrolling TBB Data Flow graphs in Robotics
• C++ medley
• Context is Everything
• Async stack traces in folly: Improving debugging in the developer lifecycle
• Real-time programming with Linux, part 1: What is real-time?
• The Danger of Atomic Operations
• In Defense Of Linked Lists
• coffeeintobugs
• Coffee Into Bugs: Life After Threads, Coroutines
• An easy-to-implement, arena-friendly hash map
• CPP Optimizations Diary

MLOps

• Woven by Toyota | Data Processing, MLOps and training at Scale With Flyte
• ML Infrastructure for Autonomous Vehicles @ Cruise | Alexander Sidorov
• Cruise.data - A new dataset processing pipeline for Cruise ML
• Building a Data Lakehouse to Manage PBs of Autonomous Vehicle Data
• What is MLOps?
• Machine Learning Operations

Learning Resources

Mindmaps & Diagrams

• roadmap.sh - Backend | DevOps
• scikit-learn - Choosing the right estimator
• Software Architecture Styles
• The Map of Control Theory

University Courses

with publically available slides and/or homeworks (problems).

• Georgia Institute of Technology: Interactive Linear Algebra [1553]
• Georgia Tech CS 3630: Introduction to Computer Vision
• Georgia Tech CS x476: Introduction to Computer Vision
• MIT 6.4210/6.4212 - Robotic Manipulation
• University of California, Berkely CS 287 Advanced Robotics
• University of Washington CSE 571: AI-Robotics
  • Homework 1 - EKF and Particle Filter for Localization
• University of Washington CSE 478: Autonomous Robotics
  • Assignments
• University of Washington CSE 599g1: Introduction to Deep Learning
  • dubnet
• University of Washington CSE P576: Computer Vision

System Design

• Grokking the System Design Interview
• Preparing for the Systems Design and Coding Interview
  • How to best prepare for system design interviews | Top Tips for system design interviews preparation
  • System Design Interview – Step By Step Guide
  • Systems Design Interview Guide
• The System Design Primer
• tssovi/grokking-the-object-oriented-design-interview

Software Architecture

• Software Architecture Guide
• Refactoring.Guru

Hands-on Exercise

• Autonomous Systems Interview Preparations
• EvalAI
• Kaggle
• LeetCode: Data Stream, Design, Matrix, Simulation, Bit Manipulation
• mint-lab/awesome-robotics-datasets
• NeetCode
• PythonRobotics
• SadServers

Engineering in Organization

• Going from Junior -> Senior engineer in 2 years
• How to Lead a Project - as a Software Engineer
• project-checklist by amilajack
• Spotify Engineering Culture - Part 1
• The Glue Engineer
• The Scrum Guide
• Why you should stop using product roadmaps and try the GIST Framework
  • GIST Planning

Related Lists

• Awesome Collision Detection
• awesome-ecs
• awesome-gpgpu
• Why Aren't There C Conferences?

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