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docs(roadmap): add the wheeled-robot specs (F1, W1–W10) #28

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82 changes: 45 additions & 37 deletions ROADMAP.md
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# Robotics Toolbox — Roadmap

Prioritized backlog by robot family. Manipulators (**M**) are the most developed; the other families are
entries only so far — their specs (`roadmap/<domain>/<Name>/`) come family by family:
Prioritized backlog by robot family. Manipulators (**M**) and wheeled robots (**W**, with **F1**) have specs
(`roadmap/<domain>/<Name>/`); the other families are entries only so far, and their specs come family by
family:

| Prefix | Family | Section |
|--------|---------------------------------------------------------------|---------------------------------------------------------------------------|
Expand Down Expand Up @@ -39,12 +40,13 @@ this roadmap needs that upstream does not ship yet are specified and built upstr

Generic algorithms live in numerical-toolbox-cpp and are referenced here as **NT** plus its
master-list item number (NT53 is upstream item 53). A robotics item that depends on one needs a
numerical-toolbox pin that ships it.
numerical-toolbox pin that ships it. NT53–NT65 have shipped upstream, and their links point to the upstream
docs; using them needs a pin at or after `1f6d717` (the current pin, `adfc10d`, predates them).

| # | Component | Upstream module | Spec | Needed by |
| # | Component | Upstream module | Spec / doc | Needed by |
|------|-------------------------------------------------------|----------------------|-----------------------------------|----------------------------------------------------------------------------|
| NT53 | SE(3) transform, twists, wrenches, exp/log, PoseError | `math` | [SE3Transform][nt53] | M7, M8, M10, M13, M15, M21, M23, M25, M26, M30, F3, A1, A6, L3, S2, G1, C1 |
| NT54 | Angle utilities (wrap, shortest difference, unwrap) | `math` | [AngleUtilities][nt54] | M21, S1 |
| NT54 | Angle utilities (wrap, shortest difference, unwrap) | `math` | [AngleUtilities][nt54] | M21, W6, W9, W10, S1 |
| NT55 | Polynomial point-to-point profile (+ profile types) | `motion_profiles` | [PolynomialProfile][nt55] | M10, F4, L2 |
| NT56 | Trapezoidal (LSPB) profile + duration sync | `motion_profiles` | [TrapezoidalProfile][nt56] | M10 (time law, optional), F4 |
| NT57 | Friction compensation (Coulomb + viscous + Stribeck) | `controllers` | [FrictionCompensation][nt57] | M5, M12, M29 (optional feedforward) |
Expand All @@ -56,7 +58,7 @@ numerical-toolbox pin that ships it.
| NT63 | Incremental QR least squares (rank-revealing) | `estimators/offline` | [IncrementalQrLeastSquares][nt63] | M22 |
| NT64 | Levenberg–Marquardt (retraction, pluggable damping) | `optimization` | [LevenbergMarquardt][nt64] | M13, M23, E5, C2 |
| NT65 | Dense convex QP (Goldfarb–Idnani) | `solvers` | [ActiveSetQp][nt65] | M25 (exact path), L6, G2, G3 |
| NT66 | SE(2) transform, twists, exp/log, pose error | `math` | [master list][ntrm], no spec yet | F1, W1, W2, W3, W5, W7, W8, E1, E2, E3, E5 |
| NT66 | SE(2) transform, twists, exp/log, pose error | `math` | [SE2Transform][nt66] (spec) | F1, W1–W10, M24, E1, E2, E3, E5 |
| NT67 | Kabsch / Umeyama point-set alignment | `solvers` | [master list][ntrm], no spec yet | E5, C1 |
| NT68 | Lie-group Jacobians and ⊕/⊖ (SO(3), SE(3), SE(2)) | `math` | [master list][ntrm], no spec yet | C1 (and NT71) |
| NT69 | Control allocation (redistributed pseudo-inverse, QP) | `controllers` | [master list][ntrm], no spec yet | A2, S3 |
Expand All @@ -66,19 +68,20 @@ numerical-toolbox pin that ships it.
| NT73 | Online jerk-limited trajectory from arbitrary state | `motion_profiles` | [master list][ntrm], no spec yet | F2 |

[ntrm]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/ROADMAP.md#master-list-by-priority
[nt53]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/math/SE3Transform/implementation.md
[nt54]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/math/AngleUtilities/implementation.md
[nt55]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/motion_profiles/PolynomialProfile/implementation.md
[nt56]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/motion_profiles/TrapezoidalProfile/implementation.md
[nt57]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/controllers/FrictionCompensation/implementation.md
[nt58]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/solvers/SymplecticIntegrators/implementation.md
[nt59]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/math/TridiagonalSolver/implementation.md
[nt60]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/motion_profiles/SCurveProfile/implementation.md
[nt61]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/math/CubicSpline/implementation.md
[nt62]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/solvers/DampedPseudoInverse/implementation.md
[nt63]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/estimators/offline/IncrementalQrLeastSquares/implementation.md
[nt64]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/optimization/LevenbergMarquardt/implementation.md
[nt65]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/solvers/ActiveSetQp/implementation.md
[nt53]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/doc/math/SE3Transform.md
[nt54]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/doc/math/AngleUtilities.md
[nt55]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/doc/motion_profiles/PolynomialProfile.md
[nt56]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/doc/motion_profiles/TrapezoidalProfile.md
[nt57]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/doc/controllers/FrictionCompensation.md
[nt58]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/doc/solvers/SymplecticIntegrators.md
[nt59]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/doc/math/TridiagonalSolver.md
[nt60]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/doc/motion_profiles/SCurveProfile.md
[nt61]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/doc/math/CubicSpline.md
[nt62]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/doc/solvers/DampedPseudoInverse.md
[nt63]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/doc/estimators/IncrementalQrLeastSquares.md
[nt64]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/doc/optimization/LevenbergMarquardt.md
[nt65]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/doc/solvers/ActiveSetQp.md
[nt66]: https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/math/SE2Transform/implementation.md

## Robot manipulators & other manipulator types

Expand Down Expand Up @@ -286,17 +289,18 @@ Cross-family building blocks that several of the families below depend on.

## Wheeled mobile robots

| # | Component | Target module | Depends on | Difficulty |
|----|------------------------------------------------------|---------------|------------|------------|
| W1 | Differential-drive kinematics | `mobile` | NT66 | ★☆☆☆☆ |
| W2 | Car-like (Ackermann / kinematic bicycle) kinematics | `mobile` | NT66 | ★☆☆☆☆ |
| W3 | Omnidirectional (mecanum / Swedish-wheel) kinematics | `mobile` | NT66 | ★☆☆☆☆ |
| W4 | Skid-steer kinematics with slip (ICR model) | `mobile` | W1 | ★★☆☆☆ |
| W5 | Pure-pursuit path tracking | `mobile` | W1, NT66 | ★★☆☆☆ |
| W6 | Stanley path tracking | `mobile` | W2 | ★★☆☆☆ |
| W7 | Kanayama Lyapunov trajectory tracking | `mobile` | W1, NT66 | ★★☆☆☆ |
| W8 | Dubins and Reeds–Shepp shortest paths | `planning` | NT66 | ★★★☆☆ |
| W9 | Dynamic window approach (local obstacle avoidance) | `planning` | W1, P1 | ★★★☆☆ |
| # | Component | Target module | Depends on | Difficulty |
|-----|------------------------------------------------------|---------------|------------|------------|
| W1 | Differential-drive kinematics | `mobile` | NT66 | ★☆☆☆☆ |
| W2 | Car-like (Ackermann / kinematic bicycle) kinematics | `mobile` | NT66 | ★☆☆☆☆ |
| W3 | Omnidirectional (mecanum / Swedish-wheel) kinematics | `mobile` | NT66 | ★☆☆☆☆ |
| W4 | Skid-steer kinematics with slip (ICR model) | `mobile` | W1 | ★★☆☆☆ |
| W5 | Pure-pursuit path tracking (+ planar polyline path) | `mobile` | W1, NT66 | ★★☆☆☆ |
| W6 | Stanley path tracking | `mobile` | W2, W5 | ★★☆☆☆ |
| W7 | Kanayama Lyapunov trajectory tracking | `mobile` | W1, NT66 | ★★☆☆☆ |
| W8 | Dubins shortest paths (+ car path type) | `planning` | NT66 | ★★☆☆☆ |
| W9 | Dynamic window approach (local obstacle avoidance) | `planning` | W1, NT66 | ★★★☆☆ |
| W10 | Reeds–Shepp shortest paths (forward and reverse) | `planning` | W8, NT54 | ★★★☆☆ |

**W1. Differential-drive kinematics.** Body twist from wheel speeds and back, wheel-speed limits mapped to `(v, ω)` limits; the base model of M24.
- *Algorithm / paper:* Siegwart et al. (2011), Ch. 3.
Expand All @@ -311,28 +315,32 @@ Cross-family building blocks that several of the families below depend on.
- *Reuses / builds on:* NT66.

**W4. Skid-steer kinematics.** Instantaneous-centre-of-rotation model with identified ICR offsets for tracked and skid-steered vehicles.
- *Algorithm / paper:* J. Martínez, J. Morales, A. Mandow, A. García-Cerezo, *IJRR*, 24(10), 2005.
- *Algorithm / paper:* J. L. Martínez, A. Mandow, J. Morales, S. Pedraza, A. García-Cerezo, *IJRR*, 24(10), 2005.
- *Reuses / builds on:* W1.

**W5. Pure pursuit.** Curvature command towards a look-ahead point on the path, with speed-scheduled look-ahead distance.
**W5. Pure pursuit.** Curvature command towards a look-ahead point on the path, with speed-scheduled look-ahead distance and monotone progress; defines the bounded polyline `PlanarPath` that W6 and the planners share.
- *Algorithm / paper:* R. C. Coulter, "Implementation of the pure pursuit path tracking algorithm," CMU-RI-TR-92-01, 1992.
- *Reuses / builds on:* W1 (or W2), NT66.

**W6. Stanley controller.** Front-axle cross-track and heading-error steering law for car-like vehicles.
- *Algorithm / paper:* S. Thrun et al., "Stanley: The robot that won the DARPA Grand Challenge," *J. Field Robotics*, 23(9), 2006.
- *Reuses / builds on:* W2.
- *Reuses / builds on:* W2, W5 (path).

**W7. Kanayama tracking controller.** Lyapunov-stable tracking of a reference pose and twist for unicycle-type bases, error expressed in the robot frame.
- *Algorithm / paper:* Y. Kanayama, Y. Kimura, F. Miyazaki, T. Noguchi, *ICRA* 1990.
- *Reuses / builds on:* W1, NT66.

**W8. Dubins and Reeds–Shepp paths.** Closed-form shortest paths for a bounded-curvature car, forward only (Dubins, 6 words) or with reversing (Reeds–Shepp, 48 words).
- *Algorithm / paper:* L. E. Dubins, *Am. J. Math.*, 79(3), 1957; J. A. Reeds, L. A. Shepp, *Pacific J. Math.*, 145(2), 1990.
**W8. Dubins paths.** Closed-form shortest forward-only paths for a bounded-curvature car (6 words), with float-safe existence tests; defines the `CarPath` type W10 reuses.
- *Algorithm / paper:* L. E. Dubins, *Am. J. Math.*, 79(3), 1957; A. Shkel, V. Lumelsky, *Robotics and Autonomous Systems*, 34(4), 2001.
- *Reuses / builds on:* NT66.

**W9. Dynamic window approach.** Samples the reachable `(v, ω)` window per cycle and scores heading, clearance and speed against obstacle distances.
**W9. Dynamic window approach.** Samples the reachable `(v, ω)` window per cycle and scores heading, clearance and speed; clearance is the closed-form arc distance to the points of a laser scan, so no collision library (P1) is needed.
- *Algorithm / paper:* D. Fox, W. Burgard, S. Thrun, *IEEE Robotics & Automation Magazine*, 4(1), 1997.
- *Reuses / builds on:* W1, P1.
- *Reuses / builds on:* W1, NT66.

**W10. Reeds–Shepp paths.** Closed-form shortest paths for a bounded-curvature car that may reverse (48 words from 8 base formulas and their symmetries); continuous in the goal, the metric for parking and car-like planners.
- *Algorithm / paper:* J. A. Reeds, L. A. Shepp, *Pacific J. Math.*, 145(2), 1990; corrected formulas as in OMPL.
- *Reuses / builds on:* W8 (`CarPath`), NT54.

## Aerial robots

Expand Down
2 changes: 1 addition & 1 deletion roadmap/DEPLOYMENT.md
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Expand Up @@ -21,7 +21,7 @@ Read the spec's three files first (`implementation.md`, `tests.md`, `explanation
4. **CMake**
- Add `.hpp` to `target_sources(...)`, `.cpp` to `robotics_add_coverage_sources(...)`,
`Test<Name>.cpp` to the `_test` target's `target_sources`.
- New module (`trajectory`, `controllers/manipulator`):
- New module (`trajectory`, `controllers/manipulator`, `mobile`, `planning`):
create `robotics/<module>/CMakeLists.txt` via `robotics_add_header_library(...)`, add a
`test/` subdir, register it in the parent `CMakeLists.txt`, and add a `doc/<module>/` folder.

Expand Down
13 changes: 10 additions & 3 deletions roadmap/README.md
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Expand Up @@ -3,8 +3,8 @@
Design-level pseudocode for proposed components in [../ROADMAP.md](../ROADMAP.md).
These are **specifications, not compilable code** — they describe *what* to build and *how*
the algorithm works, so an implementer can produce the real templated C++ afterwards. Every manipulator
(M) item has a spec; the other families (F, W, A, L, S, G, P, E, C, H) are ROADMAP entries only, and their
specs are added here family by family.
(M) and wheeled-robot (W) item has a spec, as does F1; the other families (F, A, L, S, G, P, E, C, H) are
ROADMAP entries only, and their specs are added here family by family.

## Convention

Expand All @@ -26,7 +26,8 @@ The canonical worked example is
[controllers/manipulator/PdGravityCompensation](controllers/manipulator/PdGravityCompensation/implementation.md).

Conventions shared by every spec: 6-vectors are ordered linear part first — twists `(v; ω)`, wrenches
`(f; n)` — as fixed by upstream [math/SE3Transform](https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/math/SE3Transform/implementation.md) (NT53); dynamics
`(f; n)` — as fixed by upstream [math/SE3Transform](https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/doc/math/SE3Transform.md) (NT53), and planar
3-vectors `(vx, vy, ω)` by [math/SE2Transform](https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/math/SE2Transform/implementation.md) (NT66); dynamics
and Jacobians reach controllers through interfaces implemented by
[dynamics/ChainDynamicsModel](dynamics/ChainDynamicsModel/implementation.md) and
[kinematics/GeometricJacobian](kinematics/GeometricJacobian/implementation.md).
Expand Down Expand Up @@ -96,5 +97,11 @@ prerequisites.
### `trajectory`
`CartesianSlerpInterpolation` (M10) · `TimeOptimalPathParameterization` (M27) · `CubicSplineTrajectory` (M33)

### `mobile`
`PlanarOdometry` (F1) · `DifferentialDrive` (W1) · `CarLikeKinematics` (W2) · `OmnidirectionalKinematics` (W3) · `SkidSteerKinematics` (W4) · `PurePursuit` (W5) · `StanleyController` (W6) · `KanayamaController` (W7)

### `planning`
`DubinsPath` (W8) · `DynamicWindowApproach` (W9) · `ReedsSheppPath` (W10)

### `controllers/manipulator`
`PdGravityCompensation` (M5) · `ComputedTorqueControl` (M12) · `ImpedanceControl` (M17) · `OperationalSpaceControl` (M18) · `HybridPositionForceControl` (M19) · `SlotineLiAdaptiveControl` (M20) · `CableTensionDistribution` (M25)
3 changes: 1 addition & 2 deletions roadmap/kinematics/MobileManipulatorKinematics/explanation.md
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Expand Up @@ -26,12 +26,11 @@ resolution decides how much each contributes.
- **base pose `(x, y, φ)`** and **controls `(v, ω)`** — axle-midpoint pose, drive speed and turn rate.
- **arm joints `q`** and the arm's Jacobian provider.
- **mount transform** — arm base in the mobile-base frame.
- **wheel base** — converts `(v, ω)` to wheel speeds.

## Reference
Y. Yamamoto, X. Yun, "Coordinating Locomotion and Manipulation of a Mobile Manipulator," *IEEE Trans.
Automatic Control*, 39(6), 1994.

## See also
`JacobianProvider` (M8, the arm block), `math::SE3Transform` (NT53, pose composition), `RedundancyResolution`
(M14, splitting base vs arm).
(M14, splitting base vs arm), `DifferentialDrive` (W1, wheel speeds from `(v, ω)`).
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