vox_nav

A navigation framework for outdoor robotics in rough uneven terrains.

Documenation

Please note that the documentation is under Construction!, so some parts might be missing.

https://nmburobotics.github.io/vox_nav/#/

Videos

• A video with a better resolution Thorvald Navigation with vox_nav

Related Publications

If using vox_nav for scientific publications, please consider citing the following papers.

@INPROCEEDINGS{9981647,
  author={Atas, Fetullah and Cielniak, Grzegorz and Grimstad, Lars},
  booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={Elevation State-Space: Surfel-Based Navigation in Uneven Environments for Mobile Robots}, 
  year={2022},
  volume={},
  number={},
  pages={5715-5721},
  doi={10.1109/IROS47612.2022.9981647}}

@article{DBLP:journals/corr/abs-2103-13666,
  author    = {Fetullah Atas and
               Lars Grimstad and
               Grzegorz Cielniak},
  title     = {Evaluation of Sampling-Based Optimizing Planners for Outdoor Robot
               Navigation},
  journal   = {CoRR},
  volume    = {abs/2103.13666},
  year      = {2021},
  url       = {https://arxiv.org/abs/2103.13666},
  archivePrefix = {arXiv},
  eprint    = {2103.13666},
  timestamp = {Wed, 07 Apr 2021 15:31:46 +0200},
  biburl    = {https://dblp.org/rec/journals/corr/abs-2103-13666.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

Credits

• A lot of architectural aspects of this project has been inspired by the Navigation2.. We greatly appreciate the efforts of Navigation2. community for providing such high quality software design to Robotics community.

• This systems relies on libraries e.g. OMPL, Casadi, Octomap and many more, they cant all be listed here, we appriciate and recognize the efforts of people involved in development of these libraries.