博客

A look back at the coupling-based internal clock synchronization algorithm I co-developed — using the same mathematics that describes flashing fireflies and beating hearts to synchronize clocks across tens of thousands of nodes without any external time reference.

The story behind the Zenoh protocol — why existing middleware wasn't enough, and what we set out to build.

An overview of the official ROS 2 core team study that evaluated alternative middlewares to DDS — and concluded that Zenoh best meets the requirements of modern robotics systems.