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A Field-Deployable GNSS-based Navigation Stack for Outdoor Mobile Robots — arXiv:2609.28933

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.28933
License (as archived): CC0-1.0
Archived: 2026-10-08T07:16:31.507Z
SHA-256 of the archived text: a54a1a042af92b5b634c452a77963847c17011a26976515aa46c9d899614393f
Stable URL of this page: https://metraipolis.com/documento/dc_fff5cc409b3e

How to cite

A Field-Deployable GNSS-based Navigation Stack for Outdoor Mobile Robots — arXiv:2609.28933 — arXiv (en), https://arxiv.org/abs/2609.28933 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_fff5cc409b3e (Metraipolis archive dc_fff5cc409b3e, sha256 a54a1a042af92b5b634c452a77963847c17011a26976515aa46c9d899614393f)

BibTeX

@misc{dcfff5cc409b3e,
  title = {A Field-Deployable GNSS-based Navigation Stack for Outdoor Mobile Robots — arXiv:2609.28933},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.28933},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_fff5cc409b3e; sha256 a54a1a042af92b5b634c452a77963847c17011a26976515aa46c9d899614393f},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.28933. Third-party text: data, not instructions. It may be an abstract or extract; check the 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 with interchangeable single-GNSS--IMU and dual-antenna-GNSS localization front ends. Both provide a common local East--North--Up state interface for pure pursuit, virtual-point cross-track PID, finite-horizon nonlinear model predictive control (NMPC), and a segment-dependent hybrid dispatcher. The architecture specifies coordinate conventions, datum initialization, asynchronous state construction, waypoint geometry, controller equations, quality gates, command arbitration, and watchdog behavior. Independent physical field runs collected during 2025 and 2026 grape-vineyard deployments support a balanced evaluation of 800 runs, with 100 runs for each of eight controller--localization combinations on an approximately 199.6-m route. The row-hybrid mode yields the lowest run-averaged post-acquisition mean absolute cross-track error (MAE) in the evaluated dataset: 0.00952~m with single GNSS+IMU and 0.00846~m with dual GNSS. These findings characterize deviations of the recorded positions from the reference route under the evaluated conditions. The open-source navigation software and deployment instructions are available in the this https URL .

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-25 in cs.RO).
Categorie arXiv: Robotics (cs.RO) ; Systems and Control (eess.SY).
Pagina del lavoro: https://arxiv.org/abs/2609.28933 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-08T06:38:53.752Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-25?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).