Experimental test runs

The videos below document two navigation trials conducted on October 3, 2024, at the ISR Testbed in Lisbon. These trials demonstrate the robot's performance in navigating towards a designated goal, marked by an 'X' on the floor. In the top right of each video, the current navigation data is displayed, where the tf-frame "RigidBody01" represents the robot's real pose and "base_footprint" indicates the most probable pose estimate derived from the GMapping algorithm. For more details and the discussion of the results, please refer to the corresponding sections in my thesis.
Click here to download my thesis.