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...
In this paper an Autonomous mobile Robot (AMR) is simulated in a warehouse environment using the ROS2 framework. The simulation model was referenced from an existing design of a functional AMR project where the CAD files were simplified into base_link, wheels and LiDAR sensor. The modelling and modification of original...
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...
An integrated multi-LiDAR ROS2 AMR provides a highly practical solution for indoor logistics through the proposed sensor merger and calling-station handshake, and two recurring vulnerabilities of standard ROS2 deployments—single-LiDAR coverage gaps and Nav2 goal-overwriting behavior—were successfully resolved.
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...
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