The Marathon 2: A Navigation System
arXiv:2003.00368 · doi:10.1109/IROS45743.2020.9341207
Abstract
Developments in mobile robot navigation have enabled robots to operate in warehouses, retail stores, and on sidewalks around pedestrians. Various navigation solutions have been proposed, though few as widely adopted as ROS Navigation. 10 years on, it is still one of the most popular navigation solutions. Yet, ROS Navigation has failed to keep up with modern trends. We propose the new navigation solution, Navigation2, which builds on the successful legacy of ROS Navigation. Navigation2 uses a behavior tree for navigator task orchestration and employs new methods designed for dynamic environments applicable to a wider variety of modern sensors. It is built on top of ROS2, a secure message passing framework suitable for safety critical applications and program lifecycle management. We present experiments in a campus setting utilizing Navigation2 to operate safely alongside students over a marathon as an extension of the experiment proposed in Eppstein et al. The Navigation2 system is freely available at https://github.com/ros-planning/navigation2 with a rich community and instructions.
Accepted, IROS 2020
Cited by in corpus (21)
- Robot Operating System 2: Design, Architecture, and Uses In The Wild
- A Survey on Socially Aware Robot Navigation: Taxonomy and Future Challenges
- Behavior Trees and State Machines in Robotics Applications
- Marvin: an Innovative Omni-Directional Robotic Assistant for Domestic Environments
- BTGenBot: Behavior Tree Generation for Robotic Tasks with Lightweight LLMs
- ROSpace: Intrusion Detection Dataset for a ROS2-Based Cyber-Physical System
- Handling Concurrency in Behavior Trees
- YASMIN: Yet Another State MachINe library for ROS 2
- FASTNav: Fine-tuned Adaptive Small-language-models Trained for Multi-point Robot Navigation
- Formalizing the Execution Context of Behavior Trees for Runtime Verification of Deliberative Policies
- BSL: Navigation Method Considering Blind Spots Based on ROS Navigation Stack and Blind Spots Layer for Mobile Robot
- Holistic Construction Automation with Modular Robots: From High-Level Task Specification to Execution
- Learning Social Cost Functions for Human-Aware Path Planning
- Scalable and low-cost remote lab platforms: Teaching industrial robotics using open-source tools and understanding its social implications
- A Persistent and Context-aware Behavior Tree Framework for Multi Sensor Localization in Autonomous Driving
- Leveraging 5G private networks, UAVs and robots to detect and combat broad-leaved dock (Rumex obtusifolius) in feed production
- Verifying Safety of Behaviour Trees in Event-B
- ARC Nav -- A 3D Navigation Stack for Autonomous Robots
- Performance Characterization of a Point-Cloud-Based Path Planner in Off-Road Terrain
- Autonomous Rollator: A Case Study in the Agebots Project
- Extending Behavior Trees for Robotic Missions with Quality Requirements