1.5k citations · 2k across the 7 of their papers we have counts for
7 papers
Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics
Steve Macenski, Matthew Booker, Joshua Wallace +1
We present Smac Planner, an openly available, search-based planning framework that addresses the critical need for kinematically feasible path planning across diverse robot platfor…
From the Desks of ROS Maintainers: A Survey of Modern & Capable Mobile Robotics Algorithms in the Robot Operating System 2
Steve Macenski, Tom Moore, David Lu +2
The Robot Operating System 2 (ROS 2) is rapidly impacting the intelligent machines sector -- on space missions, large agriculture equipment, multi-robot fleets, and more. Its succe…
Regulated Pure Pursuit for Robot Path Tracking
Steve Macenski, Shrijit Singh, Francisco Martin +1
The accelerated deployment of service robots have spawned a number of algorithm variations to better handle real-world conditions. Many local trajectory planning techniques have be…
Impact of ROS 2 Node Composition in Robotic Systems
Steve Macenski, Alberto Soragna, Michael Carroll +1
The Robot Operating System 2 (ROS 2) is the second generation of ROS representing a step forward in the robotic framework. Several new types of nodes and executor models are integr…
Robot Operating System 2: Design, Architecture, and Uses In The Wild
Steve Macenski, Tully Foote, Brian Gerkey +2
The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environme…
A Comparison of Modern General-Purpose Visual SLAM Approaches
Alexey Merzlyakov, Steve Macenski
Advancing maturity in mobile and legged robotics technologies is changing the landscapes where robots are being deployed and found. This innovation calls for a transformation in si…
The Marathon 2: A Navigation System
Steve Macenski, Francisco Martín, Ruffin White +1
Developments in mobile robot navigation have enabled robots to operate in warehouses, retail stores, and on sidewalks around pedestrians. Various navigation solutions have been pro…