Recent Posts

But What is the Kalman Filter?

March 20, 2026

If you’ve ever worked with sensors or control systems, you’ve probably seen the Kalman filter pop up everywhere. From robotics and tracking to signal processing and navigation. In this post, I break down what the Kalman filter actually is, starting from basic linear systems and feedback control, and building up to estimation under noise. Along the way, we look at how uncertainty shapes everything: from Luenberger observers to LQG, and why tools like the EKF and UKF exist in the first place.

From Hobby Projects to Real Embedded Firmware

January 11, 2026

If you’ve ever played around with Arduino or a robotics kit, you probably noticed that it’s fun and easy, but real embedded firmware is a whole different world. In this post, I share what I learned from building an AUV and doing an embedded programming internship. The little mistakes that can cause big headaches, and the practices that make code reliable. Plus how thinking carefully about your system -- and its limited resources -- changes the way you write code for microcontrollers.