The effectiveness of any robot is underwritten by the effectiveness of the behaviors it employs to achieve its goals. With that in mind, I pay special attention to detail when I design subroutines and operations. In particular, I try to make sure the behaviors I design consistently return the robot to the closed space in which actions are constrained, as even a single error in execution that leads the machine off the rails can create a situation akin to the integral windup in tracking measurement wherein a slight perturbation becomes larger and larger until recovery is effectively impossible without human intervention. For instance, if a robot relies on line following for navigation, a tracking gap which allows it to leave the line may result in the robot rejoining the world at a radically different place, making any prior tracking useless. While various fixed positioning systems can ameliorate these problems, such a loss in a more abstract space, such as a sorting problem, can be much much harder to recover from.
Here I have archived a few robotic behaviors I've written to various purposes. Many of them find use in multiple contexts, as they're fairly general, and can form an underlying basis for differing tasks.
Line Following (The case study for Geometric Kinematics)
Wall Following (Pending)
Obstacle Avoidance (Pending)
Box escape (Pending)