Jordan Ford

A robot for exploring lunar pits

PitRanger is a robot designed to explore, image, and model lunar pits.

Jordan's Fast LiDAR Odometry and Mapping

I wrote a C++ library for LiDAR mapping using the LOAM algorithm (highest scoring algorithm on the KITTI benchmarks). I modified the algorithm to make it as fast as possible, and boy is it fast. As best I can tell, it's 10x faster than any other (open source) implementation.

nanoplan

Search-Based Planning in C++11

Nanoplan is a header-only C++11 library for search-based robot planning.

Aztec

SAT Solving the Aztec Puzzle

I hate puzzles, and you should too. In this project, I wrote a program to encode and solve aztec puzzles using a boolean SAT solver.