We present Move Base Flex (MBF), a highly flexible, modular, map-independent, open-source navigation framework for use in ROS. MBF provides modular actions for executing plugins for path planning, motion control, and recovery. These actions define …
We present a 3D mesh surface navigation system for mobile robots. This system uses a 3D point cloud to reconstruct a triangle mesh of the environment in real time that is enriched with a graph structure to represent local connectivity. This …