# 今後研究課題

## Robotics Thoery
- [ ] 怎麼自我定位？
- [ ] 運動模型 Motion Model
- [ ] 卡爾曼濾波器 (Kalman Filter)
- [ ] 參數化定位
- [ ] 顆粒過濾演算法 (Particle Filter)
- [ ] 非參數化定位
- [ ] 路徑規劃 (Motion Planning)
- [ ] 及時定位與導航 (SLAM, Simultaneous Localization and Mapping)
- [ ] FastSLAM
- [ ] 3D SLAM

## Linux / System software
- memory mangement
- [ ] Slub
- [ ] Buddy
- [ ] KSM
- [ ] Hugepage
- scheduler
- [ ] EAS
- [ ] IO scheduler
- [ ] `sched_deadline`
- virtualization
- [ ] KVM/Qemu
- [ ] Virtio
- misc
- [ ] eBPF
- [ ] ringbuffer
- [ ] fixed point float

## Resources to Read

2020

- [ ] [SSA](https://www.cs.cmu.edu/~fp/courses/15411-f08/lectures/09-ssa.pdf)
- [ ] [Cache Coherence](https://safari.ethz.ch/architecture/fall2019/lib/exe/fetch.php?media=onur-comparch-fall2019-lecture22-cachecoherence-afterlecture.pdf)
- [ ] [MESI](http://www2.in.tum.de/hp/file?fid=1276)

2019

- [ ] [Monitoring and Tuning the Linux Networking Stack: Receiving Data](https://blog.packagecloud.io/eng/2016/06/22/monitoring-tuning-linux-networking-stack-receiving-data/#napi-poll)
- [ ] [Preconditioning](http://people.maths.ox.ac.uk/wathen/preconditioning.pdf)

# Todo List

ROS1/ROS2 Related
- [ ] ROS2 記憶體使用量
- [x] ROS2 profiling, debugging tools
ROS2 rttest: tool similar to cyclictest
[`std::chrono::duration`](https://en.cppreference.com/w/cpp/chrono/duration)

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比較不同情境 (e.g. 不同負載、QoS、Multiple subscriber, publisher)
任何影響效能的因素 如硬體軟體 e.g. RFS
硬體環境、軟體版本
以 UML 講解 this