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Stuff I read to learn about robotics system design and more.
https://github.com/mjyc/awesome-robotics-system-design

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Stuff I read to learn about robotics system design and more.

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# Awesome Robotics System Design



Stuff I read to learn about robotics system & software design and more, e.g., [design interview questions](./interview_questions.md), [design discussion topics](./discussion_topics.md).



## Blogs



- [Airbotics blog](https://www.airbotics.io/blog/)

    - [The landscape of software deployment in robotics](https://web.archive.org/web/20230330175041/https://www.airbotics.io/blog/software-deployment-landscape)

- [Apex.AI Blog](https://www.apex.ai/blog/)

    - [ADE—Ensuring that all developers in a project have a common, consistent development environment](https://www.apex.ai/post/ade-ensuring-that-all-developers-in-a-project-have-a-common-consistent-development-environment)

    - [Performance Testing in ROS 2](https://www.apex.ai/post/ade-ensuring-that-all-developers-in-a-project-have-a-common-consistent-development-environment)

    - [AUTOSAR and ROS 2 for Software-Defined Vehicle](https://www.apex.ai/post/autosar-and-ros-2-for-software-defined-vehicle)

- [Applied Intuition blog](https://blog.applied.co/)

    - [ISO 26262, SOTIF, and Simulation in Autonomy Systems](https://blog.applied.co/blog-post/iso26262-sotif-simulation)

    - [Quantifying Known and Unknown Metrics in ADAS and AV Development](https://blog.applied.co/blog-post/quantifying-knowns-and-unknowns)

- [Balena.io Blog](https://www.balena.io/blog/)

    - [OpenTelemetry for IoT Metrics](https://blog.balena.io/opentelemetry-for-iot-metrics/)

    - [Scale your Industrial deployment with IIoT Edge Gateways Managed by HiveMQ and balena](https://blog.balena.io/scale-industrial-deployment-iiot-edge-gateway-balena-hivemq/)

- [comma.ai blog](https://blog.comma.ai/)

    - [End-to-end lateral planning](https://blog.comma.ai/end-to-end-lateral-planning/)

    - [How openpilot works in 2021](https://blog.comma.ai/openpilot-in-2021/)

    - [Development speed over everything](https://blog.comma.ai/dev-speed/)

- [Cruise news](https://getcruise.com/news/)

    - [Cruise's Continuous Learning Machine Predicts the Unpredictable on San Francisco Roads](https://getcruise.com/news/blog/2020/cruises-continuous-learning-machine-predicts-the-unpredictable-on-san/)

    - [Building continuous integration & continuous delivery for autonomous vehicles on Google Cloud](https://cloud.google.com/blog/products/containers-kubernetes/how-cruise-tests-its-avs-on-a-google-cloud-platform)

- [Foxglove blog](https://foxglove.dev/blog/)

    - [MCAP vs ROS 1 Bag Index Performance](https://foxglove.dev/blog/mcap-vs-ros1-bag-index-performance)

    - [Spotlight: Using Web-Based Technologies to Make Robotics Accessible to All](https://foxglove.dev/blog/spotlight-using-web-based-technologies-to-make-robotics-accessible-to-all)

    - [Sending ROS 2 Message Types Over the Wire](https://foxglove.dev/blog/sending-ros2-message-types-over-the-wire)

- [NVIDIA DEVELOPER Blog](https://developer.nvidia.com/blog)

    - [Design Your Robot on Hardware-in-the-Loop with NVIDIA Jetson](https://developer.nvidia.com/blog/design-your-robot-on-hardware-in-the-loop-with-nvidia-jetson/)

    - [Create Realistic Robotics Simulations with ROS 2 MoveIt and NVIDIA Isaac Sim](https://developer.nvidia.com/blog/create-realistic-robotics-simulations-with-ros-2-moveit-and-nvidia-isaac-sim/)

- [PICKNIK blog](https://picknik.ai/blog/)

  - [Packaging ROS with GitHub Actions](https://picknik.ai/ros/debian/packaging/2023/02/27/packaging-ros-with-github-actions.html)

  - [Real-Time Programming: Priority Inversion](https://picknik.ai/real-time/priority%20inversion/roscon/2024/01/31/Real-Time_Programming_Priority_Inversion.html)

- [WAYVE Blog](https://wayve.ai/thinking/)

    - [Introducing GAIA-1: A Cutting-Edge Generative AI Model for Autonomy](https://wayve.ai/thinking/introducing-gaia1/)

    - [Ghost Gym: A Neural Simulator for Autonomous Driving](https://wayve.ai/thinking/ghost-gym-neural-simulator/)



## Conferences



- [ROSCon](https://roscon.ros.org/)

    - [Physical Continuous Integration — CI on Real Robots!](https://vimeo.com/187705231), 2016

    - [Determinism in ROS – or when things break sometimes and how to fix it](https://www.youtube.com/watch?v=II8yCw5tPE0), 2017

    - [Concurrency in ROS 1 and ROS 2](https://vimeopro.com/osrfoundation/roscon-2019/video/379127709), 2019

    - [Rosbag2 for Power Users](https://vimeo.com/649655219/75630c8cff), 2021

    - [Tracing ROS 2 with ros2_tracing](https://vimeo.com/652633418), 2021

    - [MCAP - A Next Generation File Format for ROS Recording](https://www.youtube.com/watch?v=Ly1XSxW8XF4), 2022

    - [Improving Your Application's Algorithms and Optimizing Performance Using Trace Data](https://vimeo.com/879001159/7d588b2cc4), 2023

    - [Leveraging a functional approach for more testable and maintainable ROS code](https://vimeo.com/879001204/ad5a36bb36), 2023

    - [Octomap is dead long life Bonxai](https://vimeo.com/879001365/4e5a1c2e0a), 2023

    - [Real-time Data-flow extension for ROS 2](https://vimeo.com/879001546/54514e92c0)

    - [Simulate robots like never before with Open 3D Engine](https://vimeo.com/879001753/80b62256e1), 2023

    - [Surviving the Flood (of Rosbags)](https://vimeo.com/879001892/66580b9633), 2023

    - [What is Robotics Observability? Scaling ROS from Prototype to Production](https://vimeo.com/879001947/f15b94d3a4), 2023

- [COMMA_CON](https://commacon.splashthat.com/)

    - [How We Test openpilot](https://youtu.be/vc6q9yIz6Ys?si=iJu4wZI87WTl37m5), 2021

- [Amazon re:MARS](https://remars.amazonevents.com/)

    - [Functional safety product development for autonomous mobile robots](https://youtu.be/0MV5fVxhM9M?si=tdXxzqkZzZH3T1X1), 2022 

- [BazelCon](https://conf.bazel.build/)

    - [Building Self Driving Cars with Bazel](https://youtu.be/fjfFe98LTm8?si=ekcExfMAgI7-GZDG), 2019

- [CppCon](https://cppcon.org/)

    - [Efficiency with Algorithms, Performance with Data Structures](https://www.youtube.com/watch?v=fHNmRkzxHWs), 2014

    - [An Introduction to Tracy Profiler in C++](https://www.youtube.com/watch?v=ghXk3Bk5F2U), 2023

    - [BehaviorTree.CPP: Task Planning for Robots and Virtual Agents](https://www.youtube.com/watch?v=7MZDBihsR_U), 2023



## Design Docs



- [ROS2 Design](http://design.ros2.org/)

    - [Clock and Time](https://design.ros2.org/articles/clock_and_time.html)

    - [Managed nodes](https://design.ros2.org/articles/node_lifecycle.html)

    - [ROS 2 Launch System](https://design.ros2.org/articles/roslaunch.html)

    - [ROS 2.0 rosbags](https://github.com/ros2/design/blob/ros2bags/articles/rosbags.md)

    - [ROS on DDS](https://design.ros2.org/articles/ros_on_dds.html)

    - [ROS on ZeroMQ and Friends](https://design.ros2.org/articles/ros_with_zeromq.html)

- [Autoware's Design](https://autowarefoundation.github.io/autoware-documentation/main/design/)

    - [Planning component design](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/planning/)

- [openpilot](https://github.com/commaai/openpilot)

    - [cereal](https://github.com/commaai/cereal/tree/master)

    - [loggerd](https://github.com/commaai/openpilot/tree/master/system/loggerd)



## Articles by Topics



### CI/CD



- [CI for Embedded Systems](https://jamesmunns.com/blog/hardware-ci-overview/)

- [Comprehensive CI/CD System Design](https://tryexceptpass.org/article/continuous-builds-1/)

- [Hardware-In-the-Loop for Connected Automated Vehicles Testing in Real Traffic](https://arxiv.org/pdf/1907.09052.pdf)

- [Improving Embedded Software Development through CI/CD](https://medium.com/@tom_80522/improving-embedded-software-development-through-ci-cd-00e9628d0a12)



### Safety, Metrics, Standards



- [Amazon re:MARS 2022 - Functional safety product development for autonomous mobile robots](https://youtu.be/0MV5fVxhM9M?si=tdXxzqkZzZH3T1X1)

- [Functional Safety Assessment of an Automated Lane Centering System | NHTSA](https://www.nhtsa.gov/sites/nhtsa.gov/files/documents/13498a_812_573_alcsystemreport.pdf)

- [ISO 26262, SOTIF, and Simulation in Autonomy Systems](https://blog.applied.co/blog-post/iso26262-sotif-simulation)

- [Safety Performance Indicators (SPIs) for Autonomous Vehicles](https://users.ece.cmu.edu/~koopman/lectures/L124_SPI_vs_KPI.pdf)

- [A Safety Standard Approach for Fully Autonomous Vehicles](https://users.ece.cmu.edu/~koopman/pubs/Koopman19_WAISE_UL4600.pdf)

- [A Literature Review of Performance Metrics of Automated Driving Systems for On-Road Vehicles](https://www.frontiersin.org/articles/10.3389/ffutr.2021.759125)

- [Title Key performance indicators for assessing the impacts of automation in road transportation Results of the Trilateral key performance](https://www.connectedautomateddriving.eu/wp-content/uploads/2018/03/KPS-for-Assessing-Impact-CAD_VTT.pdf)

- [Quantifying Known and Unknown Metrics in ADAS and AV Development](https://blog.applied.co/blog-post/quantifying-knowns-and-unknowns)

- [ISO 26262-1:2018 - Road vehicles — Functional safety — Part 1: Vocabulary](https://www.iso.org/standard/68383.html)

- [ISO 11270:2014 - Intelligent transport systems — Lane keeping assistance systems (LKAS) — Performance requirements and test procedures](https://www.iso.org/standard/50347.html)



### Testing



- [Testing robotics systems in fast-paced startups](https://mjyc.github.io/2020/12/16/testing.html)

- [How Lessons From Self-Driving Can Improve LLMs](https://web.archive.org/web/20231209121342/https://www.tidepool.so/2023/11/08/how-lessons-from-self-driving-can-improve-llms/)



### Observability



- [Prometheus vs. OpenTelemetry Metrics: A Complete Guide](https://www.timescale.com/blog/prometheus-vs-opentelemetry-metrics-a-complete-guide/)

- [Robo-Observability](https://mjyc.github.io/2023/04/21/observability.html)

- [First Mile Observability and the Rise of Observability Pipelines](https://bit.kevinslin.com/p/first-mile-observability-and-the)

- [Surviving the Flood (of Rosbags)](https://vimeo.com/879001892/66580b9633)

- [What is Robotics Observability? Scaling ROS from Prototype to Production](https://vimeo.com/879001947/f15b94d3a4)

- [Improving Your Application's Algorithms and Optimizing Performance Using Trace Data](https://vimeo.com/879001159/7d588b2cc4)

- [An Introduction to Tracy Profiler in C++](https://www.youtube.com/watch?v=ghXk3Bk5F2U)



### C/C++



- [An introduction to C++'s SFINAE concept: compile-time introspection of a class member](https://jguegant.github.io/blogs/tech/sfinae-introduction.html)

- [The C++ Bestiary](http://videocortex.io/2017/Bestiary/)

- [Reflection in C++ Part 1: The Present](https://gracicot.github.io/reflection/2018/04/03/reflection-present.html)

- [Challenge your performance intuition with C++ magic squares](https://wordsandbuttons.online/challenge_your_performance_intuition_with_cpp_magic_squares.html)

- [Brain Unrolling](http://videocortex.io/2019/Brain-Unrolling/)

  [TBB Data Flow graphs in Robotics](https://nicolovaligi.com/talks/tbb-data-flow-robotics/)

- [C++ medley](https://docs.google.com/presentation/d/1syD-vSwfrGoRZXi8uybnP6qfU8tjcht0vJAdmrRU0_Y/edit)

- [Context is Everything](https://vimeo.com/644068002)

- [Async stack traces in folly: Improving debugging in the developer lifecycle](https://developers.facebook.com/blog/post/2021/10/21/async-stack-traces-folly-improving-debugging-developer-lifecycle/)

- [Real-time programming with Linux, part 1: What is real-time?](https://shuhaowu.com/blog/2022/01-linux-rt-appdev-part1.html)

- [The Danger of Atomic Operations](https://abseil.io/blog/01222022-atomic-operations)

- [In Defense Of Linked Lists](https://www.rfleury.com/p/in-defense-of-linked-lists)

- [coffeeintobugs](https://github.com/dallison/coffeeintobugs)

- [Coffee Into Bugs: Life After Threads, Coroutines](https://www.linkedin.com/pulse/coffee-bugs-life-after-threads-coroutines-dave-allison)

- [An easy-to-implement, arena-friendly hash map](https://nullprogram.com/blog/2023/09/30/)

- [CPP Optimizations Diary](https://cpp-optimizations.netlify.app/)



### MLOps



- [Woven by Toyota | Data Processing, MLOps and training at Scale With Flyte](https://www.youtube.com/watch?v=OVLZ6-uR_so)

- [ML Infrastructure for Autonomous Vehicles @ Cruise | Alexander Sidorov](https://www.youtube.com/watch?v=zAT8sGsjnZ0)

- [Cruise.data - A new dataset processing pipeline for Cruise ML](https://www.youtube.com/watch?v=gj0BqvfX_wI)

- [Building a Data Lakehouse to Manage PBs of Autonomous Vehicle Data](https://www.youtube.com/watch?v=MaQQmjtFUK8)

- [What is MLOps?](https://aws.amazon.com/what-is/mlops/)

- [Machine Learning Operations](https://ml-ops.org/)



## Learning Resources



### Mindmaps & Diagrams



- [roadmap.sh](https://roadmap.sh/) - [Backend](https://roadmap.sh/backend) | [DevOps](https://roadmap.sh/devops)

- [scikit-learn - Choosing the right estimator](https://scikit-learn.org/stable/tutorial/machine_learning_map/index.html)

- [Software Architecture Styles](https://images.app.goo.gl/YQPSrKNV8d7MeW176)

- [The Map of Control Theory](https://engineeringmedia.com/)



### University Courses 



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



- [Georgia Institute of Technology: Interactive Linear Algebra \[1553\]](https://textbooks.math.gatech.edu/ila/)

- [Georgia Tech CS 3630: Introduction to Computer Vision](https://dellaert.github.io/20S-3630/schedule.html)

- [Georgia Tech CS x476: Introduction to Computer Vision](https://dellaert.github.io/21F-x476/schedule.html)

- [MIT 6.4210/6.4212 - Robotic Manipulation](https://manipulation.csail.mit.edu/)

- [University of California, Berkely CS 287 Advanced Robotics](https://people.eecs.berkeley.edu/~pabbeel/cs287-fa19/)

- [University of Washington  CSE 571: AI-Robotics](https://courses.cs.washington.edu/courses/cse571/23sp/)

    - [Homework 1 - EKF and Particle Filter for Localization](https://courses.cs.washington.edu/courses/cse571/23sp/homeworks/CSE571_HW1.pdf)

- [University of Washington CSE 478: Autonomous Robotics](https://courses.cs.washington.edu/courses/cse478/20wi/)

    - [Assignments](https://gitlab.cs.washington.edu/cse-478wi)

- [University of Washington CSE 599g1: Introduction to Deep Learning](https://courses.cs.washington.edu/courses/cse599g1/19au/)

    - [dubnet](https://github.com/pjreddie/dubnet/tree/main)

- [University of Washington CSE P576: Computer Vision](https://courses.cs.washington.edu/courses/csep576/18sp/)



### System Design



- [Grokking the System Design Interview](https://www.educative.io/courses/grokking-the-system-design-interview)

- [Preparing for the Systems Design and Coding Interview](https://blog.pragmaticengineer.com/preparing-for-the-systems-design-and-coding-interviews/)

    - [How to best prepare for system design interviews | Top Tips for system design interviews preparation](https://www.youtube.com/watch?v=aht20iQXfRY)

    - [System Design Interview – Step By Step Guide](https://www.youtube.com/watch?v=bUHFg8CZFws)

    - [Systems Design Interview Guide](http://patrickhalina.com/posts/systems-design-interview-guide/?ref=blog.pragmaticengineer.com)

- [The System Design Primer](https://github.com/donnemartin/system-design-primer)

- [tssovi/grokking-the-object-oriented-design-interview](https://github.com/tssovi/grokking-the-object-oriented-design-interview/tree/master/object-oriented-design-case-studies)



### Software Architecture



- [Software Architecture Guide](https://martinfowler.com/architecture/)

- [Refactoring.Guru](https://refactoring.guru/)



### Hands-on Exercise



- [Autonomous Systems Interview Preparations](https://gist.github.com/sunsided/b76260626cefb7512a9b3579f1c9660e)

- [EvalAI](https://github.com/Cloud-CV/EvalAI)

- [Kaggle](https://www.kaggle.com/)

- [LeetCode](https://leetcode.com/): [Data Stream](https://leetcode.com/tag/data-stream/), [Design](https://leetcode.com/tag/design/), [Matrix](https://leetcode.com/tag/matrix/), [Simulation](https://leetcode.com/tag/simulation/), [Bit Manipulation](https://leetcode.com/tag/bit-manipulation/)

- [mint-lab/awesome-robotics-datasets](https://github.com/mint-lab/awesome-robotics-datasets)   

- [NeetCode](https://neetcode.io/)

- [PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics)

- [SadServers](https://sadservers.com/)



### Engineering in Organization



- [Going from Junior -> Senior engineer in 2 years](https://careercutler.substack.com/p/going-from-junior-senior-engineer)

- [How to Lead a Project - as a Software Engineer](https://blog.pragmaticengineer.com/how-to-lead-a-project-in-software-development/)

- [project-checklist by amilajack](https://github.com/amilajack/project-checklist)

- [Spotify Engineering Culture - Part 1](https://youtu.be/Yvfz4HGtoPc)

- [The Glue Engineer](https://noidea.dog/glue)

- [The Scrum Guide](https://scrumguides.org/index.html)

- [Why you should stop using product roadmaps and try the GIST Framework](https://itamargilad.com/gist-framework/)

    - [GIST Planning](https://www.productplan.com/glossary/gist-planning/)



## Related Lists



- [Awesome Collision Detection](https://github.com/jslee02/awesome-collision-detection)

- [awesome-ecs](https://github.com/jslee02/awesome-entity-component-system)

- [awesome-gpgpu](https://github.com/jslee02/awesome-gpgpu)

- [Why Aren't There C Conferences?](https://nullprogram.com/blog/2018/11/21/)



## License



[![CC0](https://licensebuttons.net/p/zero/1.0/88x31.png)](http://creativecommons.org/publicdomain/zero/1.0/)