Nav Stack Lab
Tune localization, perception, planning and control on a simulated robot across seven levels and your own. Press Run to start the mission. Tap the map to add goals. The level menu (L1 to L7, and Custom) holds each floor's quick experiments. New here? Start here in Learn is a first pass of eight lessons, about 99 minutes.
Telemetry
Metrics
Where these numbers come from
For control engineers: transfer function, margins, Bode, Nyquist, root locus
Gain and phase of the open loop for a sinusoidal wiggle of ω rad/s. Where the gain crosses 0 dB (ωc) the phase must still be above −180°; the gap is the phase margin.
The same L(jω) in the complex plane. The loop is stable when the curve does not encircle −1; the closer it passes, the more fragile.
Where the closed-loop poles go when every controller gain is scaled by ×0.06 to ×16 (dots); × and ○ are the open-loop poles and zeros.
Bode and Nyquist: continuous vehicle behind a zero-order hold (delay T/2 plus latency), with the 20 Hz controller and actuator elements evaluated exactly at z = e^(sT). Poles and the predicted response: the exact 20 Hz discrete loop. Amber points and dashed curves: measured in the full nonlinear simulator.