Author

Min Thu Soe

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Open access Aug 2026

Beyond Odometry Accuracy: How Encoder Resolution and IMU Fusion Affect Particle Filter Localization in Differential-Drive Robots

Encoder resolution and sensor fusion architecture directly influence odometric drift in autonomous mobile robots (AMRs), yet their interaction with particle filter localization remains insufficiently characterized. This study evaluates four encoder resolutions (90, 512, 1024, and 4096 PPR) in wheel-odometry-only (Syste...

Yun-Ler Lim, T. Bhuvaneswari, Min Thu Soe et al. · Robotics · 0 citations

Review 2026

Nav2 for Autonomous Mobile Robots: An Implementation Oriented Survey of Architecture, Components, and Practical Limitations

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...

Yun-Ler Lim, T. Bhuvaneswari, Min Thu Soe et al. · International Journal of Mec... · 0 citations