Nathaniel J. S. Fairfield
I'm now at Google in Mountain View. I recently got my PhD from the Carnegie Mellon Robotics Institute. My primary areas of interest are self-driving cars, robotic exploration in environments which require a high level of autonomy, and extending the capabilities of a robotic system via human-robot collaboration. These interests lead me to all sorts of good robotics problems like simultaneous localization and mapping (SLAM), exploration, and science autonomy; as well as human-interface stuff like data visualization, mission specification, and realtime interaction.
CMU RI web page
RI IC Robotics Competition 2006
RI IC Robotics Competition 2007
Depth Equations in Python
Basic Kalman filter in C
Python 2.4 cross-compiled for arm (terk/qwerk)
Ravec is a 3D evidence grid (occupancy grid) library, including uniform array and octree representations.
Ravec on Sourceforge
SimpleIPC is a simple messaging system designed for rapid deployment on robotic platforms. Based on the venerable Inter-Process Communication Package, simpleIPC offers several key extensions: units, auto-discovery, message descriptors, and a Python wrapper.
simpleIPC on Sourceforge
Soto is a graphical message debugger for simpleIPC. In addition to displaying the message traffic between processes, it can log and play back this traffic. Soto also provides the ability to design GUI "panels" that are populated with data from messages.
Soto on Sourceforge
Drake is a 3D data visualization tool, specializing in the display of robotically collected point, range, and volumetric data. Provides a very flexible framework for different file formats and visualization parameters.
Drake on Sourceforge
Mage is a very simple C interface to the rFlex controller used on Real World Interface (RWI) robots. Mage has been tested on Magellan Pro's and Magellan II's, but I expect it to work fine with other robots which use the rFlex.
mage on sccs.swarthmore.edu