Academic literature on the topic 'ROS Navigation Stack'

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Journal articles on the topic "ROS Navigation Stack"

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Wei, Zhe, Sen Wang, Kangyelin Chen, and Fang Wang. "ROS-Based Navigation and Obstacle Avoidance: A Study of Architectures, Methods, and Trends." Sensors 25, no. 14 (2025): 4306. https://doi.org/10.3390/s25144306.

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With the widespread adoption of the Robot Operating System (ROS), technologies for autonomous navigation in mobile robots have advanced considerably. ROS provides a modular navigation stack that integrates essential components, such as SLAM, localisation, global path planning, and obstacle avoidance, forming the foundation for applications including service robotics and autonomous driving. Nonetheless, achieving safe and reliable navigation in complex and dynamic environments remains a formidable challenge, due to the need for real-time perception of moving obstacles, sensor fusion requirement
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Adiuku, Ndidiamaka, Nicolas P. Avdelidis, Gilbert Tang, Angelos Plastropoulos, and Yanis Diallo. "Mobile Robot Obstacle Detection and Avoidance with NAV-YOLO." International Journal of Mechanical Engineering and Robotics Research 13, no. 2 (2024): 219–26. http://dx.doi.org/10.18178/ijmerr.13.2.219-226.

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Intelligent robotics is gaining significance in Maintenance, Repair, and Overhaul (MRO) hangar operations, where mobile robots navigate complex and dynamic environments for Aircraft visual inspection. Aircraft hangars are usually busy and changing, with objects of varying shapes and sizes presenting harsh obstacles and conditions that can lead to potential collisions and safety hazards. This makes Obstacle detection and avoidance critical for safe and efficient robot navigation tasks. Conventional methods have been applied with computational issues, while learning-based approaches are limited
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Lakshmibai,, T. "Autonomous Navigation Vehicle (GAMYA Robot) - A Cost Effective ROS Based Platform for Real Time Mapping and Obstacle Avoidance." INTERNATIONAL JOURNAL OF SCIENTIFIC RESEARCH IN ENGINEERING AND MANAGEMENT 09, no. 05 (2025): 1–9. https://doi.org/10.55041/ijsrem46831.

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Abstract—This paper presents GAMYA, a cost-effective autonomous navigation vehicle developed using the Robot Operating System 2 (ROS2) framework. The system integrates a Raspberry Pi 4 as the central processing unit, an Arduino Uno R3 for motor control, and a 2D LiDAR sensor for environmental perception. GAMYA is designed to perform real-time mapping, localization, and obstacle avoidance through the implementation of the ROS2 Navigation2 stack and SLAM Toolbox. A differential drive mechanism is employed, and odometry is computed using encoder feedback to support accurate navigation. The system
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Jimenez Builes, Jovani Alberto, Gustavo Acosta Amaya, and Julián López Velásquez. "Autonomous navigation and indoor mapping for a service robot." Investigación e Innovación en Ingenierías 11, no. 2 (2023): 28–38. http://dx.doi.org/10.17081/invinno.11.2.6459.

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 Objective: Simultaneous Localization and Mapping (SLAM) is a quite common and interesting problem in mobile robotics. It is the basis of safe autonomous navigation of mobile robots and the entrance to new combined applications with a manipulator for instance. Method: In order to find a solution to the SLAM problem, the ROS middleware and the MRPT were selected. Autonomous navigation was tested using two methods, the MRPT navigation ROS package, which is a reactive navigation method based on Trajectory Parameter Space (TP-Space) transformations, and the ROS navigation stack, a st
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Adiuku, Ndidiamaka, Nicolas P. Avdelidis, Gilbert Tang, and Angelos Plastropoulos. "Improved Hybrid Model for Obstacle Detection and Avoidance in Robot Operating System Framework (Rapidly Exploring Random Tree and Dynamic Windows Approach)." Sensors 24, no. 7 (2024): 2262. http://dx.doi.org/10.3390/s24072262.

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The integration of machine learning and robotics brings promising potential to tackle the application challenges of mobile robot navigation in industries. The real-world environment is highly dynamic and unpredictable, with increasing necessities for efficiency and safety. This demands a multi-faceted approach that combines advanced sensing, robust obstacle detection, and avoidance mechanisms for an effective robot navigation experience. While hybrid methods with default robot operating system (ROS) navigation stack have demonstrated significant results, their performance in real time and high
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Chen, Shengyang, Weifeng Zhou, An-Shik Yang, Han Chen, Boyang Li, and Chih-Yung Wen. "An End-to-End UAV Simulation Platform for Visual SLAM and Navigation." Aerospace 9, no. 2 (2022): 48. http://dx.doi.org/10.3390/aerospace9020048.

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Visual simultaneous localization and mapping (v-SLAM) and navigation of unmanned aerial vehicles (UAVs) are receiving increasing attention in both research and education. However, extensive physical testing can be expensive and time-consuming due to safety precautions, battery constraints, and the complexity of hardware setups. For the efficient development of navigation algorithms and autonomous systems, as well as for education purposes, the ROS-Gazebo-PX4 simulator was customized in-depth, integrated into our previous released research works, and provided as an end-to-end simulation (E2ES)
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Erlangga, Dwiky, Endang D, Rosalia H S, Sunarto Sunarto, Kuat Rahardjo T.S, and Ferrianto G. "SISTEM NAVIGASI MOBILE ROBOT DALAM RUANGAN BERBASIS AUTONOMOUS NAVIGATION." Journal of Mechanical Engineering and Mechatronics 4, no. 2 (2019): 78. http://dx.doi.org/10.33021/jmem.v4i2.823.

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<p><em>Autonomous navigation is absolutely necessary in mobile-robotic, which consists of four main components, namely: perception, localization, path-planning, and motion-control. Mobile robots create maps of space so that they can carry out commands to move from one place to another using the autonomous-navigation method. Map making using the Simultaneous-Localization-and-Mapping (SLAM) algorithm that processes data from the RGB-D camera sensor and bumper converted to laser-scan and point-cloud is used to obtain perception. While the wheel-encoder and gyroscope are used to obtain
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Bazhan, S., and A. Hosseininaveh. "A MOVING OBSTACLES PLANNER ALGORITHM FOR A SIX-WHEELED SURVEYING ROBOT." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLII-4/W18 (October 18, 2019): 191–95. http://dx.doi.org/10.5194/isprs-archives-xlii-4-w18-191-2019.

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Abstract. Nowadays, robotic systems such as ground vehicle robots are mostly used in many industrial and military applications. Therefore, the path planning problem in the robotics domain is very important. Moving Obstacles Planner (MOP) algorithms have got the researchers interests in recent years and some of the most recent ones have been implemented in Robot Operating System (ROS) which is an open source middle wear to work with robots. This paper aims to compare the state-of-the-art MOP algorithms including Rapidly exploring Random Tree (RRT) and those implemented in the ROS navigation sta
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Banisetty, Santosh Balajee, Scott Forer, Logan Yliniemi, Monica Nicolescu, and David Feil-Seifer. "Socially Aware Navigation: A Non-linear Multi-objective Optimization Approach." ACM Transactions on Interactive Intelligent Systems 11, no. 2 (2021): 1–26. http://dx.doi.org/10.1145/3453445.

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Mobile robots are increasingly populating homes, hospitals, shopping malls, factory floors, and other human environments. Human society has social norms that people mutually accept; obeying these norms is an essential signal that someone is participating socially with respect to the rest of the population. For robots to be socially compatible with humans, it is crucial for robots to obey these social norms. In prior work, we demonstrated a Socially-Aware Navigation (SAN) planner, based on Pareto Concavity Elimination Transformation (PaCcET), in a hallway scenario, optimizing two objectives so
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Calatrava-Nicolás, Francisco M., Eduardo Gutiérrez-Maestro, Daniel Bautista-Salinas, et al. "Robotic-Based Well-Being Monitoring and Coaching System for the Elderly in Their Daily Activities." Sensors 21, no. 20 (2021): 6865. http://dx.doi.org/10.3390/s21206865.

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The increasingly ageing population and the tendency to live alone have led science and engineering researchers to search for health care solutions. In the COVID 19 pandemic, the elderly have been seriously affected in addition to suffering from isolation and its associated and psychological consequences. This paper provides an overview of the RobWell (Robotic-based Well-Being Monitoring and Coaching System for the Elderly in their Daily Activities) system. It is a system focused on the field of artificial intelligence for mood prediction and coaching. This paper presents a general overview of
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Dissertations / Theses on the topic "ROS Navigation Stack"

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Fryč, Martin. "Ovládání robota s Ackermannovým podvozkem." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2017. http://www.nusl.cz/ntk/nusl-363743.

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In this paper is described creation of a robot in Robot Operating system (ROS) withAckermann steering. It contains the principle of Ackermann steering geometry, search ofcontroller boards and basics of ROS structure. A RC car with connected PixHawk controlleris used as a basis of the robot. On the robot is placed an onboard computer Raspberry Pi3 with running ROS. This computer is connected to a laptop through Wi-Fi network. Theprocedure of starting up the robot and ROS is also described in this paper, as well asdesign of the graphical user interface (GUI) that will display sensory data and al
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Book chapters on the topic "ROS Navigation Stack"

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Huaman, Ricardo, Clayder Gonzalez, and Sixto Prado. "Performance Evaluation of the ROS Navigation Stack Using LeGO-LOAM." In Smart Innovation, Systems and Technologies. Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-66961-3_16.

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Borse, Saurabh, Tarik Viehmann, Alexander Ferrein, and Gerhard Lakemeyer. "A ROS 2-Based Navigation and Simulation Stack for the Robotino." In Lecture Notes in Computer Science. Springer Nature Switzerland, 2025. https://doi.org/10.1007/978-3-031-85859-8_2.

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Polantika, Denzel, Yusuf Averroes Sungkar, and Johannes. "Hexapod Robot with Indoor Path Planning Using ROS Navigation Stack on a Static Map." In Lecture Notes in Electrical Engineering. Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-29078-7_52.

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Kumar Chaudhary, Ashok, Vinay Gupta, Kumar Gaurav, Tharun Kumar Reddy, and Laxmidhar Behera. "EEG Control of a Robotic Wheelchair." In Human-Robot Interaction - Perspectives and Applications [Working Title]. IntechOpen, 2023. http://dx.doi.org/10.5772/intechopen.110679.

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The Brain-Computer Interface (BCI) technology has been widely used in clinical research; however, its adoption in consumer devices has been hindered by high costs, poor reliability and limited autonomy. In this study, we introduce a low-cost, open-source hardware-based, consumer-grade product that brings BCI technologies closer to the elderly and motor-impaired individuals. Specifically, we developed an autonomous motorized wheelchair with BCI-based input capabilities. The system employs the ROS-backend navigation stack, which integrates RTAB-MAP for mapping, localization, and visual odometry, as well as A* global and DWA local path planning algorithms for seamless indoor autonomous operations. Data acquisition is accomplished using OpenBCI 16-channel EEG sensors, while Ensemble-Subspace KNN machine learning model is utilized for intent prediction, particularly goal selection. The system offers active obstacle avoidance and mapping in all environments, while a hybrid BCI Motor Imagery based control is implemented in a known mapped environment. This prototype offers remarkable autonomy while ensuring user safety and granting unparalleled independent mobility to the motor-impaired and elderly.
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Conference papers on the topic "ROS Navigation Stack"

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Sani, Ettore, Antonio Sgorbissa, and Stefano Carpin. "Improving the ROS 2 Navigation Stack with Real-Time Local Costmap Updates for Agricultural Applications." In 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10610984.

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Kangutkar, Rasika, Jacob Lauzon, Alexander Synesael, Nicholas Jenis, Kruthika Simha, and Raymond Ptucha. "ROS Navigation Stack for Smart Indoor Agents." In 2017 IEEE Applied Imagery Pattern Recognition Workshop (AIPR). IEEE, 2017. http://dx.doi.org/10.1109/aipr.2017.8457966.

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Ramroop, Sarika, and Shivan Ramdhanie. "Integrating an Inertial Navigation System with the ROS Navigation Stack." In ROSCon2018. Open Robotics, 2018. http://dx.doi.org/10.36288/roscon2018-900275.

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Ramroop, Sarika, and Shivan Ramdhanie. "Integrating an Inertial Navigation System with the ROS Navigation Stack." In ROSCon2018. Open Robotics, 2018. http://dx.doi.org/10.36288/roscon2018-900819.

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Megalingam, Rajesh Kannan, Anandu Rajendraprasad, and Sakthiprasad Kuttankulangara Manoharan. "Comparison of Planned Path and Travelled Path Using ROS Navigation Stack." In 2020 International Conference for Emerging Technology (INCET). IEEE, 2020. http://dx.doi.org/10.1109/incet49848.2020.9154132.

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Mendes, Pedro H. F., Andre Mendes, and Luis F. C. Duarte. "Integration of ROS Navigation Stack with Dynamic Environment Information in Gazebo Simulation." In 2022 Smart Technologies, Communication and Robotics (STCR). IEEE, 2022. http://dx.doi.org/10.1109/stcr55312.2022.10009315.

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Kobayashi, Masato, and Naoki Motoi. "Path Planning Method Considering Blind Spots Based on ROS Navigation Stack and Dynamic Window Approach for Wheeled Mobile Robot." In 2022 International Power Electronics Conference (IPEC-Himeji 2022- ECCE Asia). IEEE, 2022. http://dx.doi.org/10.23919/ipec-himeji2022-ecce53331.2022.9807203.

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Molnar, Sidney L., and Jeffrey W. Herrmann. "Monitoring Methods for Metareasoning Approaches for Recovering From Path Planning Failures on Mobile Ground Robots." In ASME 2024 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2024. http://dx.doi.org/10.1115/detc2024-143525.

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Abstract The planning algorithms that autonomous systems use sometimes fail to generate effective solutions, which prevents mission success. Metareasoning, which is “thinking about thinking,” is one way to mitigate planning failures. To give an autonomous robot the ability to recover from these failures, we implemented a novel metareasoning approach in the ARL ground autonomy stack known as Phoenix. The metareasoning approach controls the global and local path planners in that stack by stopping and restarting the associated ROS nodes. In any metareasoning policy, there are methods of control a
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Shen, Chen, and Gim Song Soh. "Targeted Sampling DWA: A Path-Aware DWA Sampling Strategy for Omni-Directional Robots." In ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2023. http://dx.doi.org/10.1115/detc2023-116450.

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Abstract This paper describes a modified sampling strategy for the Dynamic Window Approach (DWA), a local path planner, for omni-directional robot motion planning. An efficient local path planner allows the robot to quickly respond to dynamic obstacles and ensures that the resultant velocity commands meet the dynamic constraints of the robot. While typical DWA implementations sample the velocity space evenly, we propose that a targeted sampling approach will result in a more fine-grained search of the relevant velocity space, leading to finer control and better performance in space-constrained
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Gupta, Ayush, Amit Shukla, Amit Kumar, and Ashok Kumar Shivratri. "Vision-Based Autonomous Inspection of Vertical Structures Using Unmanned Aerial Vehicle (UAV)." In ASME 2022 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/imece2022-95698.

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Abstract High-rise structures like a chimney, flare stacks, storage tanks, cooling towers, electric line poles, and communication towers become a vital part of any industry and are very common in day-to-day life. These vertical structures required a proper and frequent inspection to run the industries safely and stay profitable. The inspection of the industrial structure is done in several stages, and vision-based inspection is the very initial, oldest, and simplest method to detect and locate the surface defects and anomalies. The existing traditional methods of vision-based inspections are u
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Reports on the topic "ROS Navigation Stack"

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Sinanan, Shawn, Amir Naser, Maribel Delatorre, Ahmet Soylemezoglu, and Garry Glaspell. Autonomous robotics development in Robot Operating System (ROS) 2 Humble. Engineer Research and Development Center (U.S.), 2025. https://doi.org/10.21079/11681/49747.

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This report presents a novel Robot Operating System (ROS) 2–based simulation framework designed to facilitate the development and testing of an autonomous navigation stack. Elements of the navigation stack, including lidar odometry, simultaneous localization and mapping (SLAM), and frontier exploration, are discussed in detail. The key features of the navigation stack include real-time performance and scalable architecture. The simulation results were applied to a physical robot. As a result, the physical robot was able to autonomously map the interior of a building and to generate 2D occupanc
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