Abstract: In response to the localization challenges posed by multi-modal motion mode transitions during the locomotion of tracked-wheel robots in sheltered spaces, this paper presents a combination ...

For the gps heading, it provides the absolute orientation with east being zero and counter clockwise movement increase the yaw. I converted to imu message type so that the navsat_transform_node can ...

The robot subsystem drives the robot along a specified route by accepting velocity and heading commands from a software controller on a laptop, which steers the robot. The robot has an odometry ...

Dynamic obstacles are confusing my robot and localization is not working properly. Sometimes when encountering a dynamic obstacle, the robot teleports to a random place on the map, which doesn't get ...

Abstract: With the rapid pace of urbanization, maintaining underground drainage pipelines has become increasingly challenging, particularly in defect localization within complex pipeline terrains, ...