Citations

If you use the navigation framework, an algorithm from this repository, or ideas from it please cite this work in your papers!

S. Macenski, F. Martín, R. White, J. Clavero. **The Marathon 2: A Navigation System**. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

IROS 2020 talk on Nav2 Marathon Experiments:

@InProceedings{macenski2020marathon2,
author = {Macenski, Steven and Martin, Francisco and White, Ruffin and Ginés Clavero, Jonatan},
title = {The Marathon 2: A Navigation System},
booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2020}
}

If you use any of the algorithms in Nav2 or the analysis of the algorithms in your work, please cite this work in your papers!

S. Macenski, T. Moore, DV Lu, A. Merzlyakov, M. Ferguson, **From the desks of ROS maintainers: A survey of modern & capable mobile robotics algorithms in the robot operating system 2**, Robotics and Autonomous Systems, 2023

@article{macenski2023survey,
      title={From the desks of ROS maintainers: A survey of modern & capable mobile robotics algorithms in the robot operating system 2},
      author={S. Macenski, T. Moore, DV Lu, A. Merzlyakov, M. Ferguson},
      year={2023},
      journal = {Robotics and Autonomous Systems}
}

Smac Planner (Hybrid A*, State Lattice, 2D):

S. Macenski, M. Booker, J. Wallace, **Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics**,

@article{macenski2024smac,
      title={Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics},
      author={Steve Macenski and Matthew Booker and Josh Wallace},
      year={2024},
      journal = {Arxiv}
}

Regulated Pure Pursuit Controller:

S. Macenski, S. Singh, F. Martin, J. Gines, **Regulated Pure Pursuit for Robot Path Tracking**, Autonomous Robots, 2023.

@article{macenski2023regulated,
      title={Regulated Pure Pursuit for Robot Path Tracking},
      author={Steve Macenski and Shrijit Singh and Francisco Martin and Jonatan Gines},
      year={2023},
      journal = {Autonomous Robots}
}

VSLAM and formal comparisons for service robot needs:

A. Merzlyakov, S. Macenski. **A Comparison of Modern General-Purpose Visual SLAM Approaches**. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.

@InProceedings{vslamComparison2021,
author = {Merzlyakov, Alexey and Macenski, Steven},
title = {A Comparison of Modern General-Purpose Visual SLAM Approaches},
booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2021}
}