Preprint
Sep 2026
A Field-Deployable GNSS-based Navigation Stack for Outdoor Mobile Robots
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...
Yi-Yuan Lin, Cole Regnier, Yu Jiang
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