In a recent video, Willow Garage researcher Eitan Marder-Eppstein describes the open-source navigation stack they've released as version 1.0. The code, available at http://ros.org/wiki/navigation, was designed to be flexible and cross-platform, he says, and could be used in anything from a small iRobot Create-based bot to a large multi-sensor robot like Willow's own PR2 (which Spectrum has covered in detail here and here).
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