Resources

To see the math at work in a toy version of the library, check out this notebook. Click this link to open it interactively in your browser.

Road Runner makes use of algorithms and techniques described in the following papers:

• Mobile Robot Kinematics for FTC

• Quintic Splines for FTC

• FRC Drivetrain Characterization

• Planning Motion Trajectories for Mobile Robots Using Splines, especially section 3.2

• Control of Wheeled Mobile Robots: An Experimental Overview, especially chapter 5

• A guiding vector field algorithm for path following control of nonholonomic mobile robots