Welcome! My name is Mark Tobenkin, I’m a software engineer specializing in control and estimation systems. This web-page is just a collection of technical content I’ve found interesting and would like to hang on to.

A number of the pages are expository writing on math related to motion estimation and navigation. None of the results are new by any stretch of the imagination, but sometimes they have a derivation that suits my personal tastes (e.g. I find power series term matching really unsatisfying).

It’s probably too much to ask, but if you do find an error, please file an issue. If my writing is unclear, or there are other results that seems worth mentioning I’m open to constructive comments over there as well.

Hope you find something interesting to read here.

Happy Hacking,

sMark