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# System prepended metadata

title: 今後研究課題

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# 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 