IDP HUSKY: Autonomous Navigation for Construction Applications

Students will improve and extend a ROS2-based navigation stack for the Clearpath Husky, integrating open-source SLAM and localization packages and working on path planning, smoothing, optimization, re-planning, and parameter tuning. They may integrate or implement and evaluate algorithms, with possible controller improvements or MPC adaptation. Developed components will be evaluated in simulation and, where possible, on the real Husky platform for autonomous navigation in construction environments.