SOURCE-LINKED INTELLIGENCE
Obstacle-Aware Autonomous Coverage and Navigation for Outdoor Robots
Long-duration outdoor coverage with autonomous platforms remains challenging beyond classical planning: deployments face localization drift in open spaces, obstacles in cluttered sites, controller feasibility in turn-heavy maneuvers, and persistent autonomy with energy management. We propose a unified ROS 2 architecture for single-robot outdoor coverage: a dual-antenna RTK-GNSS fused in an EKF keeps both position and heading accurate across long missions; three controller-aware refinements extend a mature coverage planner; a Nav2-based behavior-tree mission executive coordinates multi-goal exe
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-01T15:15:45.000Z
First collected: 2026-09-21T06:01:56.170Z. This is not the publication date.