This work presents the design, construction and operation of the SKD-1, a modular skid-steer unmanned ground vehicle (UGV) developed as a low-cost research platform for mobile robotics applications. The platform integrates a differential skid-steer drive system, a Raspberry Pi-based onboard computer, and a microcontrol...
Outdoor robots require more than an accurate receiver and a path-tracking law: the navigation system must preserve geometric consistency from geographic waypoints to actuator commands, expose measurement validity and timing, and respond to invalid or stale state information. This work presents a ROS~2 navigation stack...
This paper presents the design and implementation of a vision-based system enabling a robot to autonomously follow a human in dynamic environments. The proposed solution was developed using the quadruped walking robot Unitree Go2, which provides high mobility, terrain adaptability, and dynamic stability suitable for in...
Surface exploration of asteroids is a critical yet challenging aspect of deep-space missions. This article presents the design and capabilities of the autonomous retractable-spoke-wheel robot (ARSWR), a mobile robotic system specifically developed for asteroid surface exploration. The retractable spoke-wheel mechanism...
The Robot Operating System 2 (ROS 2) Navigation Stack (Nav2) has become the dominant framework for autonomous mobile robot navigation, yet practitioners encounter significant difficulty translating its architectural documentation into reliable real-world deployments. This paper presents a practitioner-oriented survey o...
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