Extend 'Robotic System and Infrastructure' section

[tbohne]

• explain how "navigation & mapping, perception, knowledge representation & reasoning, planning, interaction, and learning" are represented in the AROX system (e.g. perception: all the sensors - LiDAR, GNSS, odom, IMU, ..)
• write about pdc? What is that?
  • works with utm/GNSS coordinates and depends on localization
  • in contrast to move_base_flex (without localization and only map coordinates)
  • mbf depends on perception (collision avoidance using lidar)
  • pdc depends on reasoning / knowledge rep -> waypoint server?
• write something about the used map (world frame / map frame ...)
• interaction is covered by communication with a human operator via topics
• KR&R:
  • waypoint server holds zones / control parameters + waypoints
  • control SMACH
  • planning is represented by the ... described in section \ref{} the node gives tasks to the robot

[tbohne]

are we using SLAM? if so, explain!

• if I want to explain SLAM later, I already have a good source: "Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age"

@ARTICLE{Cadena:2016, author={Cadena, Cesar and Carlone, Luca and Carrillo, Henry and Latif, Yasir and Scaramuzza, Davide and Neira, José and Reid, Ian and Leonard, John J.}, journal={IEEE Transactions on Robotics}, title={Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age}, year={2016}, volume={32}, number={6}, pages={1309-1332}, doi={10.1109/TRO.2016.2624754} }

[tbohne]