CppCon 2026

Large-scale robotics organizations operate diverse fleets of manipulators — 4-DOF arms on rails, 6-DOF standard manipulators on pedestals and fully mobile manipulators — each with different kinematics, hardware vendors, and software teams and researchers.

And engineers and researchers are opinionated.

As a team eventually you have one goal. Re-use as many abstractions; ideas and algorithms as you can while still allowing you the flexibility to explore new algorithms; ideas and approaches.

This talk presents a layered C++ architecture that solves this at scale. We present our core abstrcactions; a header-only Lie group library provides shared spatial math types (SE(3) poses, twists, wrenches); a trajectory library for motion planners and controllers; and a collision detection library from the same.

We will discuss how we moved from virtual functions to C++ concepts with zero overhead and the learnings along the way that allow us to write planning and control algorithms for various robots morphologies and sensing paradigms.

Critically, this architecture balances the needs of production at scale while enabling experimentation: researchers can prototype new collision algorithms, try a new physics engine, or test a novel trajectory representation — all without disrupting production code. The backend boundaries are where new ideas enter the system. You'll leave with three distinct C++ patterns for backend abstraction — compile-time traits, runtime interfaces, and type erasure — and an understanding of when to use each based on performance requirements and the need for experimentation.

A fundamental control structure of each programming language are loops. And we all expect them to be simple and self explanatory. However, C++ would not be C++, if there would be no tricky details to learn and respect about loops in C++.

This talk takes its time to discuss the various ways and approaches to program loops in C++. Beside basic while and for loops, we talk about the range-based for loop, and all the extensions recently added to these control structures.

In addition, we will look at other ways to program loops in C++, such as using algorithms and how to deal with parallel computing in a loop.

As a result you get a deeper understanding of the various ways loops can be programmed in Modern C++ so that you know better how to use them in practice.

Applications that present rapidly changing market data to human users face a practical challenge: updates may arrive thousands of times per second, but humans only benefit from periodic refreshes. Efficiently coalescing and scheduling that work without overwhelming CPU resources becomes a concurrency problem rather than simply a rendering problem.

This talk demonstrates how modern C++ atomics can be used to build a lock-free timer scheduler optimized for extremely high update rates. The scheduler follows a single-producer, multiple-consumer design in which work items represent recurring tasks that must execute periodically. Consumers process scheduled work and re-schedule it for future execution without relying on traditional locks or centralized coordination.

The most unusual aspect of the design is its “reverse work stealing” behavior: consumers can proactively give away work to other consumers and become idle themselves. Rather than distributing work evenly across all threads, the scheduler attempts to pack work onto as few cores as possible, reducing idle spinning, lowering CPU utilization, and improving cache locality. Because tasks may have highly variable execution times, the scheduler must also prevent pathological cases where work is endlessly redistributed between consumers.

Attendees will learn how atomics, lock-free forward lists, and memory ordering can be combined to implement high-throughput schedulers with predictable latency characteristics. The talk also discusses practical tradeoffs, implementation challenges, and performance measurements from production-inspired workloads, including producer throughput of approximately 50 million scheduled tasks per second and consumer processing throughput approaching 700 million tasks per second, while keeping migrated work items below 1% in typical workloads.

In modern C++, std::unordered_map is the de facto #2 container. Its dominance signifies a fundamental shift in application design: the performance-critical need for O(1) average-case key-value lookups.

Join as we move beyond "just use a hash map" and explore the critical, real-world implications of this choice. We'll start by benchmarking the classic std::map (red-black tree) against std::unordered_map (hash table) to understand exactly what you gain-and what you might lose.

However this power comes with risks. An average-case O(1) can quickly degrade to a catastrophic O(n) without warning. We will profile and dissect the actual costs of using a hash map:

• The Hash: What makes a good hash function? We'll go beyond std::hash and see how to write effective, fast hashers.
• The Collision: How do different collision-handling strategies impact performance and memory?
• The Re-hash: What is "load factor," and when does the hidden cost of a full table re-hash destroy your performance gains?

We'll conclude with a practical decision-making framework for when to choose std::unordered_map , when to fall back on the ordered std::map , and how std::string -the container we often forget is a container-fits into this modern landscape.

You will leave this session knowing precisely which data structure to deploy for maximum performance.