The DOI matches its Crossref record; 18 of the 18 references it cites were found in a registry or an index.
The Marathon 2: A Navigation System
Open accessAbstract
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 (Robot Operating System) Navigation. 10 years on, it is still one of the most popular navigation solutions1. 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. [1]. The Navigation2 system is freely available at https://github.com/ros-planning/navigation2 with a rich community and instructions.
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Cites
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The Office Marathon: Robust navigation in an indoor office environment
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The interactive museum tour-guide robot
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Cited by
Robot Operating System 2: Design, architecture, and uses in the wild
Macenski, S., Foote, T., Gerkey, B., Lalancette, C., & Woodall, W. (2022) · Science Robotics · doi:10.1126/scirobotics.abm6074 · Cited by 1,585
Self-citationActive Inference and Behavior Trees for Reactive Action Planning and Execution in Robotics
Pezzato, C., Corbato, C. H., Bonhof, S., & Wisse, M. (2023) · IEEE Transactions on Robotics · doi:10.1109/tro.2022.3226144 · Cited by 44
“BTs are de-facto replacing finite state machines (FSM) in several state-of-the-art systems, for instance in the successor of the ROS Navigation Stack, Nav2 [25] BTs are graphical representations for action execution.”
Background
Metadata
- Authors
- Macenski, S., Martin, F., White, R., & Clavero, J. G.
- Venue
- 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Publisher
- IEEE
- Published
- 2020-10-24
- Pages
- 2718-2725
- OpenAlex
- W3007469703
- Cited by
- 389
- References
- 18
- FWCI
- 9.08
- Type
- conference paper
- Language
- en
- Open access
- green
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- Macenski, S., Martin, F., White, R., & Clavero, J. G. (2020). The Marathon 2: A Navigation System. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). https://doi.org/10.1109/iros45743.2020.9341207
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