MANUSH Navigation

Role (Doc B §12): SLAM, spatial mapping, planning.

MANUSH Navigation builds maps, localises the robot in them and plans safe paths.

Responsibilities

• SLAM with LiDAR, visual and inertial odometry; multi-floor maps and map merging across a fleet.
• Semantic maps: zones, docks, shelves, doors, elevators and restricted areas.
• Global and local planning with dynamic obstacle avoidance and human-aware behaviour in crowds.
• Mixed indoor/outdoor transitions, ramps, kerbs and stairs for legged platforms.

Building on Navigation

Navigation modules expose goals (move_to a pose or a named location) and report progress. Restricted zones declared in a skill's SafeCore permissions are enforced by MANUSH Safety at plan time and run time. In the Sandbox, move_to and dock simulate Navigation goals in a ±50 m workspace.