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@article{164217,
        author = {Surabhi Gupta and Siddhant Swan  and Amit Barde and Sapna Wagaj},
        title = {Comparative Benchmarking of SLAM, Global Path Planning and Local Planning Capabilities of ROS and ROS2 Navigation Frameworks },
        journal = {International Journal of Innovative Research in Technology},
        year = {},
        volume = {10},
        number = {12},
        pages = {578-588},
        issn = {2349-6002},
        url = {https://ijirt.org/article?manuscript=164217},
        abstract = {This research paper comprehensively benchmarks the SLAM, global path planning, and local planning capabilities of the ROS Navigation Stack and ROS2 Navigation2 (Nav2) for autonomous mobile robot navigation. As robots operate in increasingly complex environments, evaluating navigation frameworks is critical. The study highlights Nav2's strengths in global planning and competitive local planning performance, offering insights for optimizing navigation solutions across applications. The study reveals Nav2's superior global planning performance with the SMAC planner and generally competitive local planning capabilities compared to ROS's Navigation Stack, albeit with an isolated instance of collision observed with the DWB planner.},
        keywords = {ROS, ROS2, navigation, SLAM, path planning},
        month = {},
        }