Quaternions can be useful in robotics when you're trying to perform trajectory planning or any kind of rotation control. Quaternions provide a continuous space where every point represents a rotation, unlike rotation matrices, which exist in a much harder space to explore since most matrices do not represent pure rotations. If you have algorithms for example trying slerp between rotations, or find a path from one rotation to another under some constraint, or sample rotations near the current rotation, then the space of quaternions is a much more practical space to work in.
This is awesome stuff, I'm going to look into getting this running my Pis this weekend. How hard would it be to add in custom services? I like to play with decentralized algorithms such as Size Estimation and Clock Synchronization (https://jasonfantl.com/) and have always wanted to get them running on real hardware.
Awesome!
From what I see, the clock synchronization can be implemented with our SDKs (mainly pub-sub).
I think the size estimation could also be implemented within the provided abstractions (mainly request-response) but might require you to keep track of neighbors. I think you could implement both algorithms by using our SDKs (none for Go yet).
If you need more control or performance, beyond what we expose through our SDKs, you might need to write a custom libp2p behavior and add it to our daemon. The libp2p part is fairly involved, but I would love to help you with that.
Either way I would love to help you out :)
I'm so disappointed that I've never seen your blog before. The stuff you write about is so interesting and actually addresses some issues we are facing. I just sent you an email :)
I wanted to understand where supply-demand curves came from, so I made a small simulation. As these things have a tendency to do, features kept being added, and now it's at a point that I think others might find it interesting. Let me know what you think.
Very cool. This would be interesting to look into for the simplified drone simulation I have here. If we wanted a drone to only communicate to let's say 4 others, then we might send out a ping and see how many respond, decreasing our range until only 4 respond. But not all drones that recieve our ping can respond since their range may already be decreased. I'm not sure what arrangment that would result in generally, but I'm going to have some fun looking into it, thanks for the info.
I did something similar, but started somewhere different: The individuals personal value of a good. You might find it interesting as a different approach to a similar project. https://jasonfantl.com/posts/Simulated-Economy-(1)/
