Autopilot Inference

Localization

Specification
input	wheel odometry (fusion of IMU and wheel encoders)
	Aruco markers (when known and available)
	RTK-GNSS fixes (when available)
	LiDAR scan matches on a pre-recorded map (when available)
output	robot pose in a global reference frame (published as odometry)
user settings	global reference frame as (lat, lon, alt)
	mode switch to localization across multiple maps
user workflows	localization while driving from indoors to outdoors (and vice versa)
	register new, or update existing, Aruco markers

Specification
input	path / trajectory
	local (obstacle) map
output	velocity command (max. is a user-setting yet capped on 1.4m-s)
direct avoidance	small sized obstacle (up to 15 cm in size and standing at least 5 cm)
	medium sized obstacles (up to 50 cm and standing at least 5 cm)
trade-offs	prolongation along path; distance to path; obstacle avoidance
user settings	selection of controller FollowPath-Loosely-Roughly-Strictly

Specification
input	start and destination waypoints (on global map!)
	global (obstacle) map
output	path / trajectory
replanning	large sized obstacles (up to 2-3 m and standing at least 5 cm)
policies	Max speed, Max distance to path

Specification
when indoors	initialize on Aruco marker
	limited to areas of 25x25 meters max
when outdoors	initialize on a small drive with RTK-GNSS reception
	limited to areas of 25x25 meters max
manual driving speed	max 0.5 m-s

Specification
user feedback	about the booting process
	about the next task being executed
	about the stage in executing the task

Specification
When indoors	smooth floor, such as concrete possible topped with vinyl or carpet
	steps and ramps higher then 5 cm are labeled as obstacles
	sudden drops, cliffs and manholes are not detected nor labelled as obstacles
When outdoors	smooth terrain, such as asphalt and sidewalks
	steps and ramps higher then 5 cm are labeled as obstacles
	paths free of overhanging vegetation
	sudden drops, cliffs and manholes are not detected nor labelled as obstacles