Blog

Imagine you’re in a maze made of IKEA furniture, blindfolded. Your best bet? A GPS that knows your location and tells you which way to go. For robots, the GPS is a *localization algorithm*—think of it as a super‑accurate Google Maps that can also handle the occasional “Did I just step into a puddle of spilled juice?” moment. There are two main flavors: | Algorithm | What It Does | A Quick Joke | |———–|————–|————–| | **Kalman Filter** | Predicts future states using past data + process noise. Think of it as a psychic that’s still in school. | “I’m so good at predicting the future, even my calendar is jealous.” | | **Particle Filter** | Uses a swarm of hypothetical positions to estimate reality. Like a fortune‑teller who keeps asking *“Which one of you is the real me?”* | “I asked 10,000 particles where I was. One said ‘You’re over there.’” | Both are basically the robot’s “I am currently at (x, y) with a confidence of 95%.” They’re the mental equivalent of looking at your reflection in the shiny door and saying, “Yep, still a 6’2” guy.” — 2. The “What Should I Do?” Brainstorm Once the robot knows where it is, it needs a plan. This is where *path‑planning* algorithms strut in like the life of the party—calculating a route that’s safe, efficient, and legally compliant. Two classics: A* (A-Star) Think of it as the *Google Maps for robots*. It finds the shortest path while considering obstacles. The “A” stands for *“anyway, we’re still going to get there.”* It’s fast, deterministic, and loves a good heuristic. If A* were a movie genre, it’d be action‑adventure with a dash of romance (because who doesn’t love the “I found the shortest route” moment?). RRT* (Rapidly-exploring Random Tree) This one is the *“I’ll throw a random dart, and if it lands near the goal, we’re good.”* RRT* builds a tree of random samples and gradually optimizes it. It’s like the robot version of *“let’s see what happens if we randomly bump into a wall.”* Great for high‑dimensional spaces (think drones in a forest) where A* would have to check every leaf. — 3. The “How Do I Get There?” Execution Even the best plan is useless if the robot can’t actually move. *Control algorithms* take over here, translating a high‑level plan into wheel velocities or motor currents. Two popular methods: | Control Method | What It Does | A Pun to Keep You Awake | |—————-|————–|————————| | **PID (Proportional‑Integral‑Derivative)** | Classic feedback control; adjusts output based on error, accumulated error, and rate of change. Like a thermostat that knows when you’re too cold or too hot. | “PID: The only way to keep your robot from doing the *crazed‑on‑ice* dance.” | | **Model Predictive Control (MPC)** | Uses a model of the robot to predict future states and optimize control inputs over a horizon. Think of it as a *future‑teller that actually knows the outcome.* | “MPC: Because even robots need a crystal ball to avoid potholes.” | — 4. The “What If Things Go Wrong?” Safety Net Robots don’t live in a perfect world. Sensors fail, obstacles appear, and the world is full of surprises (like a toddler in a hallway). That’s why *fault‑tolerant* and *recovery* strategies are essential. Think of them as the robot’s “panic button” that turns your autonomous car into a very polite, slow‑moving taxi. – **Redundancy**: Multiple sensors (lidar + camera) cross‑check each other. If one says “I see a wall,” the others confirm, preventing the robot from thinking it’s a giant marshmallow. – **Recovery Behavior**: When stuck, robots can back up, rotate, or even call a human. Picture your robot yelling “Help! I’m in a parking lot!”—not literally, but it will try to find its way out. — 5. The “What About Ethics?” Debate When we talk about autonomous navigation, we can’t ignore the philosophical potholes. Do we let robots decide when to yield? Who is responsible if a self‑driving car kills a pigeon? The answer lies in *ethical algorithms*, which add constraints like “never cross this line” or “always give way to pedestrians.” It’s a bit like giving your robot a moral compass—though it’s still not as good at “honesty” as a 90‑year‑old grandmother. — 6. The “Can I Adopt This Technology?” Bottom Line If you’re a startup, think of autonomous navigation as the *“software‑defined”* version of your product. It’s a huge leap from manual controls, but the learning curve is steep enough to scare even the most fearless coder. Yet, with open‑source libraries (ROS, OpenCV), you can start small: a line‑following robot that avoids obstacles in your living room. It’s like teaching a child to walk—only the child is a robot, and the world is full of *unexpected* obstacles. — 7. A Quick Recap (Because We’re All Busy) | Component | Purpose | Key Takeaway | |———–|———|————–| | **Localization** | Where am I? | Kalman vs. Particle filters: psychic vs. swarm mentality | | **Planning** | What route? | A* = efficient, RRT* = exploratory | | **Control** | How to move? | PID = simple, MPC = predictive | | **Recovery** | What if I crash? | Redundancy + recovery behaviors keep the robot sane | | **Ethics** | Moral GPS | Algorithms can be programmed to follow ethical rules | — 8. Humorous Conclusion So there you have it: autonomous navigation algorithms, the unsung heroes that turn our cars from *“I’m a car”* to *“I’m a self‑driving, ethically aware, obstacle‑avoiding, philosophical car.”* If you’re thinking of adopting this tech, remember: it’s like giving your robot a brain, but also making sure you have a good insurance policy and an even better sense of humor. After all, when your robot finally decides to take a detour through the office fridge—because it thinks it’s on an “adventure” you’ll need a good laugh and a coffee. In the end, autonomous navigation isn’t just about getting from point A to B. It’s about navigating the messy maze of life—one algorithmic step at a time, with plenty of puns, analogies, and the occasional “Did I just bump into that?!” moment. Happy coding, and may your robots always find the shortest path to pizza delivery!

I should start an Onlyfans and trickle evidence to at least monetize being harassed.

Actually, here’s a super spicy info dump on all the secrets for just $2,999.99. Click for a free sample!

I title this post “gag order”, not that there has been such, but how I feel when approaching my blog and social media these days. There is so much I want to write about, and the horrors I’ve found as PR of my mom’s Estate, and continue to uncover and try to make sense of. But the reality is, some poor paralegal has likely been tasked with monitoring this space simply to find any word, any sentence that can be twisted and used as an exhibit for, in my personal opinion and belief under the First Amendment, a Bad Faith Will Contest.

A gag order (also known as a gagging order or suppression order) is an order, typically a legal order by a court or government, restricting information or comment from being made public or passed on to any unauthorized third party. The phrase may sometimes be used of a private order by an employer or other institution.

Uses of gag orders include keeping trade secrets of a company, protecting the integrity of ongoing police or military operations, and protecting the privacy of victims or minors. Conversely, as their downside, they may be abused as a useful tool for those of financial means to intimidate witnesses and prevent release of information, using the legal system rather than other methods of intimidation. Strategic lawsuit against public participation (SLAPP) orders may potentially be abused in this way.^[1][2]

Gag orders are sometimes used in an attempt to assure a fair trial by preventing prejudicial pre-trial publicity, although their use for this purpose is controversial since they are a potentially unconstitutional prior restraint that can lead to the press’s using less reliable sources such as off-the-record statements and second- or third-hand accounts.^[3]

In a similar manner, a “gag law” may limit freedom of the press, by instituting censorship or restricting access to information.^[4]

https://en.wikipedia.org/wiki/Gag_order

I suppose, what I can safely share is things already on the docket, of which I’d refer you to the docket. But I’ll share this verbatim from my ResponceToPetitionOfPRRemoval.pdf filing:

…I continue to cooperate regarding multiple concerns with law enforcement….

As both the Personal Representative of the Estate, and the son of a deceased mother, my personal sentiment is that I hope you see justice mom and that the matters spanning 2017 to December 2024 are fully investigated. You deserve that much after, what I believe, happened to you.

As much as it saddens me to be forced to stop writing, I’m afraid that I’ll need to cease all online participation of social media and other online avenues at this time.

Take care

This was unpublished and in my drafts from December 5th, 2024

Hey Mom,

Sorry things flew off the rails last night, it’s been an impossible situation for quite some time now. What do you do when your mom’s doctor calls you and scares the heck out of you? Hopefully you can save and read this if someday you come back into your full self again. I’m hoping you beat this and do.

I just wanted to clear the air and put the past behind me. I do find myself incredibly hurt though, and it’s going to take time to work through that.

I never agreed or promised to leave Kasey, quit my job and move into your bedroom though and I’m not sure where that is coming from. What I’ve said this time around since you’ve been in the hospital is that I would consider it if you got in-home help, or went to rehab for a bit. I can’t do it alone and it didn’t work the two other times both Kasey and I moved there, how are things any different this time?

It’s been 9 times now and when the doctor says there won’t be a next time… I’m sorry but I can’t sweep it under the rug and pretend everything is happy and good, not when there’s a very real possibility of another funeral by Christmas.

And I know it makes you angry if people in your life don’t smile and pretend everything is okay, I get it, it’s scary. I’ve had night terrors for years knowing I’ll die someday but I can’t be anything but who I am, and that person is soft, and loving, and sensitive – I’m someone who cares about his mom and it’s you’re about the only family left, wouldn’t you be scared? Weren’t you scared of losing Betty and Kenny?

But I can’t seem to do anything but make things worse, so I’ve excused myself for my own well-being right now as I’m not okay, and I don’t have the person I usually call when the world isn’t right as she is no longer there right now.

My dad said that his mom and dad were very mean, and it was very confusing for years before they passed away, it’s been helpful talking to him through this. It’s hard not to take the nasty and mean things you keep saying to me to heart when I’ve done nothing wrong and have been very open, honest, and the most helpful that I could be.

I think you’d be proud of me though, and maybe you will be someday as I’ve had no other motive or plan than to just make sure you are healthy and happy. I’m sorry mom, but I can’t and won’t jeopardize my life, my career, and relationship and destroy myself to just keep doing the same things over and over and over again that leads to you just being back in ICU. Mike didn’t know when to step away and I can’t end up like him in the yard.

Things would be different and I would consider moving back home if there was any real meaningful change and listened to even just a little bit of what your doctors are telling you.

I really do hope, and pray that you recover and some day I can talk to my mom again. What I do know for certain, is that I tried everything that I could do and went further, and with more effort than I would have for anyone.

For that, I hope you know that I love you mom, forever, and for all time.

Ross

I hope you’re laughing at the mess you left us, mom.

Considering my blog may get subpoena’d anyway, and the fact that nothing here is other than what I believe to be true at the time written, I’ve decided to bring it back as it was.

I’ll continue writing, but privately and one day when this is all over, I’ll publish it all here.

Maybe it’ll help someone going through the same thing in the future and I get to keep writing in the meantime, win/win.